Propagating Elevation-Map Uncertainty Through the Contact Maximum in Closed Form

cs.RO

Submitted: 2026-10-05

Updated: 2026-10-05

Comments: 8 pages, 4 figures, 2 tables. Submitted to the 2027 IEEE International Conference on Robotics and Automation (ICRA)

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

Sources

• Stochastic Hazard Detection For Landing Under Topographic Uncertainty
• ProTerrain: Probabilistic Physics-Informed Rough Terrain World Modeling
• Ostrich: Taking Large Strides Through Stiff Contact in Differentiable Dynamics
• Differentiable Physics Simulations with Contacts: Do They Have Correct Gradients w.r.t. Position, Velocity and Control?
• Augmenting differentiable physics with randomized smoothing

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies