Differentiable Collision

DCOL

Ref

• 2022-Differentiable Collision Detection for a Set of Convex Primitives
• code
• author: kevin-tracy

DCOL: a fast and fully differentiable collision-detection framework that reasons about colliisons between a set of composable and highly expressive convex primirive shapes.

利用凸优化的方式，处理凸可表达的形状的可微分的碰撞检测

Introduction

• non-differentiable collision methods
  • GJK
  • enhanced-GJK

BACKGROUND

• Conic Optimization
• Differentiating Through a Cone Program

DCOL A LGORITHM