ucsdarclab/diffco
differentiable proxy collision checking for robot trajectory optimization.
This project helps robotics engineers and researchers optimize robot paths to avoid collisions more smoothly and efficiently. It takes in initial robot movement plans and environment obstacles, then outputs a refined, collision-free trajectory. This is for professionals working on robot motion planning who need to ensure safe and efficient operation in complex environments.
No commits in the last 6 months.
Use this if you need to optimize robot trajectories to prevent collisions using a method that can be easily integrated into gradient-based optimization frameworks.
Not ideal if you are looking for a pre-built, production-ready motion planning system rather than a differentiable collision checking library.
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51
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Language
Jupyter Notebook
License
BSD-3-Clause
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Last pushed
Mar 18, 2025
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