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Kirill Safronov

dblp:49/9806 · DBLP profile ↗
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1ranked-venue papers
0as first author
1since 2021 · last 2024
—ORCID · unresolved

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 since 2021Systems, architecture and hardware · 1 · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 77% Robot manipulation · 23%

Topics — the 2 heaviest of 2, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control
collision detection
0.812024
Neural Implicit Swept Volume Models for Fast Collision Detection · ICRA 2024
Robotics › Robot manipulation › grasping › grasping in clutter
bin picking
0.212024
Neural Implicit Swept Volume Models for Fast Collision Detection · ICRA 2024

Methods — techniques the papers use, named apart from their topics

neural signed distance function · 0.8geometric collision checking · 0.8
YearPublicationVenuePosition
2024 Neural Implicit Swept Volume Models for Fast Collision Detection
abstract
Collision detection is one of the most time-consuming operations during motion planning. Thus, there is an increasing interest in exploring machine learning techniques to speed up collision detection and sampling-based motion planning. A recent line of research focuses on utilizing neural signed distance functions of either the robot geometry or the swept volume of the robot motion. Building on this, we present a novel neural implicit swept volume model to continuously represent arbitrary motions parameterized by their start and goal configurations. This allows to quickly compute signed distances for any point in the task space to the robot motion. Further, we present an algorithm combining the speed of the deep learning-based signed distance computations with the strong accuracy guarantees of geometric collision checkers. We validate our approach in simulated and real-world robotic experiments, and demonstrate that it is able to speed up a commercial bin picking application.
Dominik Joho, Jonas Schwinn, Kirill Safronov
ICRA3