Jinhee Yun

Amortized NeuralSDF-Mesh Collision Detection for Robotic Contact Simulation

Collision detection is a fundamental problem in robotics, but handling collisions between non-convex objects remains challenging. A common approach for representing non-convex geometry is a signed distance function (SDF). Voxel-based SDF (VoxelSDF) enables fast distance queries but suffers from disc…

Variations of Augmented Lagrangian for Robotic Multi-Contact Simulation