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cs.RO2026
Curve-Induced Dynamical Systems on Riemannian Manifolds and Lie Groups
Saray Bakker, Martin Schonger, Tobias Löw +2
Deploying robots in household environments requires safe, adaptable, and interpretable behaviors that respect the geometric structure of tasks. Often represented on Lie groups and…
cs.RO2026
Smoothly Differentiable and Efficiently Vectorizable Contact Manifold Generation
Onur Beker, Andreas René Geist, Anselm Paulus +4
Simulating rigid-body dynamics with contact in a fast, massively vectorizable, and smoothly differentiable manner is highly desirable in robotics. An important bottleneck faced by…