Improving Machine Learning-Based Robot Self-Collision Checking with Input Positional Encoding

Fuente: arXiv

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	Kulecki, Bartłomiej, Belter, Dominik
Format:	Preprint
Veröffentlicht:	2025
Schlagworte:	Robotics
Online-Zugang:	Acceder al recurso
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Ähnliche Einträge

Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding
von: Kulkarni, Mihir, et al.
Veröffentlicht: (2024)

A Comparative Evaluation of Geometric Accuracy in NeRF and Gaussian Splatting
von: Zielinski, Mikolaj, et al.
Veröffentlicht: (2026)

Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Collision Checking
von: Ramsey, Clayton W., et al.
Veröffentlicht: (2024)

Keyframe-based Dense Mapping with the Graph of View-Dependent Local Maps
von: Zielinski, Krzysztof, et al.
Veröffentlicht: (2026)

Generative Planning with Fast Collision Checks for High Speed Navigation
von: Knuth, Craig, et al.
Veröffentlicht: (2024)

A New Software Tool for Generating and Visualizing Robot Self-Collision Matrices
von: Klein-Seetharama, Roshan, et al.
Veröffentlicht: (2025)

Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisions
von: Ruan, Quanyuan, et al.
Veröffentlicht: (2025)

BaRiFlex: A Robotic Gripper with Versatility and Collision Robustness for Robot Learning
von: Jeong, Gu-Cheol, et al.
Veröffentlicht: (2023)

Neural NMPC through Signed Distance Field Encoding for Collision Avoidance
von: Jacquet, Martin, et al.
Veröffentlicht: (2025)

Efficient Collision Detection Framework for Enhancing Collision-Free Robot Motion
von: Zhu, Xiankun, et al.
Veröffentlicht: (2024)

TD3 Based Collision Free Motion Planning for Robot Navigation
von: Liu, Hao, et al.
Veröffentlicht: (2024)

URPlanner: A Universal Paradigm For Collision-Free Robotic Motion Planning Based on Deep Reinforcement Learning
von: Ying, Fengkang, et al.
Veröffentlicht: (2025)

TaBSA -- A framework for training and benchmarking algorithms scheduling tasks for mobile robots working in dynamic environments
von: Dudek, Wojciech, et al.
Veröffentlicht: (2024)

One-DoF Robotic Design of Overconstrained Limbs with Energy-Efficient, Self-Collision-Free Motion
von: Gu, Yuping, et al.
Veröffentlicht: (2025)

Detection of Anomalous Behavior in Robot Systems Based on Machine Learning
von: Nissan, Mahfuzul I., et al.
Veröffentlicht: (2025)

Robot Navigation with Entity-Based Collision Avoidance using Deep Reinforcement Learning
von: Kolomeytsev, Yury, et al.
Veröffentlicht: (2024)

Learning Fast, Tool aware Collision Avoidance for Collaborative Robots
von: Lee, Joonho, et al.
Veröffentlicht: (2025)

ViIK: Flow-based Vision Inverse Kinematics Solver with Fusing Collision Checking
von: Meng, Qinglong, et al.
Veröffentlicht: (2024)

Reward-Based Collision-Free Algorithm for Trajectory Planning of Autonomous Robots
von: Hoyos, Jose D., et al.
Veröffentlicht: (2025)

Workspace Registration and Collision Detection for Industrial Robotics Applications
von: Zauner, Klaus, et al.
Veröffentlicht: (2025)

The Navigation of Home Service Robot Based on Deep Learning and Machine Learning
von: Yupei Yan, et al.
Veröffentlicht: (2024)

Enhancing Robot Explanation Capabilities through Vision-Language Models: a Preliminary Study by Interpreting Visual Inputs for Improved Human-Robot Interaction
von: Sobrín-Hidalgo, David, et al.
Veröffentlicht: (2024)

Neural Implicit Swept Volume Models for Fast Collision Detection
von: Joho, Dominik, et al.
Veröffentlicht: (2024)

A Learning-Based Framework for Collision-Free Motion Planning
von: Salomão, Mateus, et al.
Veröffentlicht: (2025)

OPAL: Encoding Causal Understanding of Physical Systems for Robot Learning
von: Tcheurekdjian, Daniel, et al.
Veröffentlicht: (2025)

Neural Collision Detection for Multi-arm Laparoscopy Surgical Robots Through Learning-from-Simulation
von: Ghiasi, Sarvin, et al.
Veröffentlicht: (2026)

Learning Multi-Agent Local Collision-Avoidance for Collaborative Carrying tasks with Coupled Quadrupedal Robots
von: Bray, Francesca, et al.
Veröffentlicht: (2026)

Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input
von: Xu, Zifan, et al.
Veröffentlicht: (2025)

Verified Design of Robotic Autonomous Systems using Probabilistic Model Checking
von: Azaiez, Atef, et al.
Veröffentlicht: (2025)

RISE: Self-Improving Robot Policy with Compositional World Model
von: Yang, Jiazhi, et al.
Veröffentlicht: (2026)

Forecast-Driven MPC for Decentralized Multi-Robot Collision Avoidance
von: Hailu, Hadush, et al.
Veröffentlicht: (2025)

Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration
von: Rustler, Lukas, et al.
Veröffentlicht: (2024)

DRIVE: Data-driven Robot Input Vector Exploration
von: Baril, Dominic, et al.
Veröffentlicht: (2023)

Quality Over Quantity: Curating Contact-Based Robot Datasets Improves Learning
von: Sathyanarayan, Hrishikesh, et al.
Veröffentlicht: (2025)

Self-Improving Loops for Visual Robotic Planning
von: Luo, Calvin, et al.
Veröffentlicht: (2025)

Collision-Free Robot Navigation in Crowded Environments using Learning based Convex Model Predictive Control
von: Wen, Zhuanglei, et al.
Veröffentlicht: (2024)

Attention-Based Map Encoding for Learning Generalized Legged Locomotion
von: He, Junzhe, et al.
Veröffentlicht: (2025)

Collision-Free Navigation of Mobile Robots via Quadtree-Based Model Predictive Control
von: Ali, Osama Al Sheikh, et al.
Veröffentlicht: (2025)

Collision-Aware Traversability Analysis for Autonomous Vehicles in the Context of Agricultural Robotics
von: Philippe, Florian, et al.
Veröffentlicht: (2024)

Vision-Based Reasoning with Topology-Encoded Graphs for Anatomical Path Disambiguation in Robot-Assisted Endovascular Navigation
von: Zhao, Jiyuan, et al.
Veröffentlicht: (2026)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
language	"de"
VUFIND_SESSION	"f1bafde2e46560047ad120df861fd063"
ui	"standard"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1790897325.3499 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "f1bafde2e46560047ad120df861fd063" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"language=de; VUFIND_SESSION=f1bafde2e46560047ad120df861fd063; ui=standard"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.217.142"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"58418"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2509_07542/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2509_07542/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1790897325.3437
REQUEST_TIME	1790897325

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler