MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation

arXiv:2507.14061 · cs.RO · Submitted 2025-07-18 · Read on arXiv

cs.RO

Submitted: 2025-07-18

Updated: 2026-08-13

Code: https://github.com/CK1201/sphere-set-approximation

Terminology

• Fidelity — 27× in this paper · explained in 2 episodes
• Accuracy — 25× in this paper · explained in 1 episode
• Adaptation — 10× in this paper · explained in 1 episode
• Benchmark — 9× in this paper · explained in 2 episodes
• Computational Efficiency — 7× in this paper · explained in 2 episodes
• Planner — 7× in this paper · explained in 3 episodes
• Variational Sphere Set Approximation — 5× in this paper
• Clustering — 4× in this paper · explained in 2 episodes
• Evaluation Framework — 4× in this paper · explained in 3 episodes
• Gaussian Splatting — 4× in this paper · explained in 4 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Adaptive Medial-Axis Approximation — 3× in this paper
• Ablation Study — 2× in this paper · explained in 3 episodes
• Computational Tractability — 2× in this paper · explained in 2 episodes
• Computational overhead — 2× in this paper · explained in 2 episodes
• False Negatives — 2× in this paper · explained in 2 episodes
• Loss Function — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Bayesian Optimization — 1× in this paper · explained in 3 episodes
• Clarity — 1× in this paper · explained in 3 episodes
• Cognitive Load — 1× in this paper · explained in 2 episodes
• Coherence — 1× in this paper · explained in 2 episodes
• Combinatorial Optimization — 1× in this paper · explained in 2 episodes
• Composite Loss Function — 1× in this paper · explained in 4 episodes
• Core — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 10 episodes
• Diffusion Models — 1× in this paper · explained in 9 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generator — 1× in this paper · explained in 2 episodes
• Hierarchical Structure — 1× in this paper · explained in 3 episodes
• Local Optimization — 1× in this paper · explained in 2 episodes
• Localization — 1× in this paper · explained in 2 episodes
• Meta-learning — 1× in this paper · explained in 3 episodes
• OES Autonomous Underwater Vehicle Workshop — 1× in this paper
• Objective Function — 1× in this paper · explained in 2 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Operating Regimes — 1× in this paper · explained in 2 episodes
• Papers — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Quantization — 1× in this paper · explained in 15 episodes
• Sphere Outside Volume — 1× in this paper
• Universal Robot Description Format — 1× in this paper
• Verification — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• MPC-based Coarse-to-Fine Motion Planning for Robotic Object Transportation in Cluttered Environments
• Foam: A Tool for Spherical Approximation of Robot Geometry
• Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking
• Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
• Conformalized Reachable Sets for Obstacle Avoidance With Spheres
• Dexterous Contact-Rich Manipulation via the Contact Trust Region
• cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation
• NeRFs in Robotics: A Survey
• 3D Representation Methods: A Survey
• 3D Gaussian Splatting in Robotics: A Survey

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