MrNeRF (@janusch_patas)
2025-05-14 | โค๏ธ 158 | ๐ 18
FOCI: Trajectory Optimization on Gaussian Splats
Contributions: โข A novel collision measure between Gaussian splats based on the overlap integral between Gaussians.
โข A trajectory planning algorithm that uses this formulation to optimize fully differentiable trajectories.
โข A GPU implementation of the trajectory optimization.
โข An evaluation of the proposed algorithm on the ANYmal legged robot in both simulation and the real world.
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Tags
domain-vision-3d domain-robotics domain-ai-ml domain-simulation