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cs.RO2026
Novel Algorithms for Smoothly Differentiable and Efficiently Vectorizable Contact Manifold Construction
Onur Beker, Andreas René Geist, Anselm Paulus +1
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second…
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…
cs.RO2025
A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact
Onur Beker, Nico Gürtler, Ji Shi +4
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such method…