{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T16:38:33Z","timestamp":1757608713547,"version":"3.44.0"},"reference-count":39,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100004063","name":"Knut and Alice Wallenberg Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004063","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11128013","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"3015-3021","source":"Crossref","is-referenced-by-count":0,"title":["Adaptive Distance Functions via Kelvin Transformation"],"prefix":"10.1109","author":[{"given":"Rafael I. Cabral","family":"Muchacho","sequence":"first","affiliation":[{"name":"RPL, EECS, KTH Royal Institute of Technology,Stockholm,Sweden"}]},{"given":"Florian T.","family":"Pokorny","sequence":"additional","affiliation":[{"name":"RPL, EECS, KTH Royal Institute of Technology,Stockholm,Sweden"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2795645"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/0196-8858(90)90017-S"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2019.8796030"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2920078"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3143311"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3227860"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981456"},{"key":"ref9","article-title":"Learning robot geometry as distance fields: Applications to whole-body manipulation","author":"Li","year":"2023","journal-title":"arXiv preprint"},{"key":"ref10","article-title":"Online learning of piecewise polynomial signed distance fields for manipulation tasks","author":"Mari\u0107","year":"2024","journal-title":"arXiv preprint"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2024.XX.132"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3414180"},{"key":"ref13","first-page":"137","article-title":"Contact-invariant optimization for hand manipulation","volume-title":"Proceedings of the ACM SIGGRAPH\/Eurographics symposium on computer animation","author":"Mordatch","year":"2012"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386181"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3354615"},{"key":"ref16","first-page":"245","article-title":"Learning models as functionals of signed-distance fields for manipulation planning","volume-title":"Conference on robot learning","author":"Driess","year":"2022"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812093"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2018.xiv.049"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/02783649241273668"},{"key":"ref20","article-title":"Plan-guided reinforcement learning for whole-body manipulation","author":"Zhang","year":"2023","journal-title":"arXiv preprint"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8239542"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341337"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3365993"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161571"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811698"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161548"},{"key":"ref27","article-title":"Provably safe reinforcement learning: Conceptual analysis, survey, and benchmarking","author":"Krasowski","year":"2023","journal-title":"Transactions on Machine Learning Research"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1145\/3450626.3459809"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12611"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-02256-2_9"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1145\/2516971.2516977"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9991(77)90102-4"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/70.143352"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.14068"},{"key":"ref35","first-page":"11","volume-title":"The n-dimensional cotangent formula","author":"Crane","year":"2019"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.cag.2019.03.005"},{"volume-title":"Eigen v3","year":"2010","author":"Guennebaud","key":"ref37"},{"volume-title":"CGAL User and Reference Manual","year":"2024","key":"ref38"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW63382.2024.00535"}],"event":{"name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2025,5,19]]},"location":"Atlanta, GA, USA","end":{"date-parts":[[2025,5,23]]}},"container-title":["2025 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11127273\/11127223\/11128013.pdf?arnumber=11128013","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:46:20Z","timestamp":1756881980000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11128013\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":39,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11128013","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}