Safety-Critical Control for Smoothed Implicit Contact Dynamics

arXiv:2605.21138 · cs.RO · Submitted 2026-05-20 · Read on arXiv

cs.RO

Submitted: 2026-05-20

Updated: 2026-10-07

Comments: Accepted to Robotics and Automation Letters (RA-L)

DOI: 10.1109/LRA.2026.3737044

Project page: https://contact-cbf.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 4× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Conference on Decision and Control — 2× in this paper
• Bayesian Optimization — 1× in this paper · explained in 3 episodes
• Control Barrier Function (CBF) — 1× in this paper · explained in 5 episodes
• European Control Conference — 1× in this paper
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Dojo: A Differentiable Physics Engine for Robotics

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