An iterative inner-outer polyhedral approximation algorithm solves the ray-intersection formulation of growth distance for convex sets with representable support functions and delivers state-of-the-art speed with primal-dual feasibility and monotone convergence.
Differentiable collision detection for a set of convex primitives,
2 Pith papers cite this work. Polarity classification is still indexing.
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
A CBF quadratic program filters human-to-humanoid imitation commands to enforce collision-free motion in simulation.
citing papers explorer
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A Ray Intersection Algorithm for Fast Growth Distance Computation Between Convex Sets
An iterative inner-outer polyhedral approximation algorithm solves the ray-intersection formulation of growth distance for convex sets with representable support functions and delivers state-of-the-art speed with primal-dual feasibility and monotone convergence.
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Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions
A CBF quadratic program filters human-to-humanoid imitation commands to enforce collision-free motion in simulation.