MorphIt is a gradient-based spherical approximation framework for robot morphology that provides tunable control over accuracy-efficiency tradeoffs and outperforms baselines in speed and geometric fidelity.
Octree-based approach to real-time collision-free path planning for robot manipula- tor
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MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation
MorphIt is a gradient-based spherical approximation framework for robot morphology that provides tunable control over accuracy-efficiency tradeoffs and outperforms baselines in speed and geometric fidelity.