DeepAI AI Chat
Log In Sign Up

Differentiable Collision Detection: a Randomized Smoothing Approach

by   Louis Montaut, et al.

Collision detection appears as a canonical operation in a large range of robotics applications from robot control to simulation, including motion planning and estimation. While the seminal works on the topic date back to the 80s, it is only recently that the question of properly differentiating collision detection has emerged as a central issue, thanks notably to the ongoing and various efforts made by the scientific community around the topic of differentiable physics. Yet, very few solutions have been suggested so far, and only with a strong assumption on the nature of the shapes involved. In this work, we introduce a generic and efficient approach to compute the derivatives of collision detection for any pair of convex shapes, by notably leveraging randomized smoothing techniques which have shown to be particularly adapted to capture the derivatives of non-smooth problems. This approach is implemented in the HPP-FCL and Pinocchio ecosystems, and evaluated on classic datasets and problems of the robotics literature, demonstrating few micro-second timings to compute informative derivatives directly exploitable by many real robotic applications including differentiable simulation.


page 1

page 2


Differentiable Collision Detection for a Set of Convex Primitives

Collision detection between objects is critical for simulation, control,...

DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons

Collision detection plays an important role in simulation, control, and ...

Differentiable Collision Avoidance Using Collision Primitives

A central aspect of robotic motion planning is collision avoidance, wher...

Collision Detection Accelerated: An Optimization Perspective

Collision detection between two convex shapes is an essential feature of...

Learning To Find Shortest Collision-Free Paths From Images

Motion planning is a fundamental problem in robotics and machine percept...

Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators

Configuration space (C-space) has played a central role in collision-fre...

Motion Planning and Control for On-Orbit Assembly using LQR-RRT* and Nonlinear MPC

Deploying large, complex space structures is of great interest to the mo...