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On shelves at a Humanetics facility in Huron, Ohio, skulls stare from their eyeless sockets, shiny and silver. Around a corner, a rack is filled with squishy, peach-toned arms, legs, torsos and butts.

In recent years, the analysis of a control barrier function has received considerable attention because it is helpful for the safety-critical control required in many control application problems.

Abstract: In this letter, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for ...