Grasp execution via a softmin field over grasp configurations with CBF-QP safety filtering, eliminating trajectory replanning, with a force-closure margin guarantee that fails in one reported trial.
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Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality
Grasp execution via a softmin field over grasp configurations with CBF-QP safety filtering, eliminating trajectory replanning, with a force-closure margin guarantee that fails in one reported trial.