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.
Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features,
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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.