{"id":35,"date":"2024-11-18T20:44:49","date_gmt":"2024-11-18T20:44:49","guid":{"rendered":"http:\/\/opus-nemo.put.poznan.pl\/?p=35"},"modified":"2026-03-26T16:53:51","modified_gmt":"2026-03-26T16:53:51","slug":"test-post-media","status":"publish","type":"post","link":"https:\/\/opus-nemo.put.poznan.pl\/?p=35","title":{"rendered":"Machine Learning-Based Robot Self-Collision Checking"},"content":{"rendered":"\n<p>We are happy to announce that out article entitled &#8220;Improving Machine Learning-Based Robot Self-Collision Checking with Input Positional Encoding&#8221; was published in Foundations of Computing and Decision Sciences.<\/p>\n\n\n\n<!--more-->\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"612\" src=\"https:\/\/opus-nemo.put.poznan.pl\/wp-content\/uploads\/2024\/11\/image-1024x612.png\" alt=\"\" class=\"wp-image-59\" srcset=\"https:\/\/opus-nemo.put.poznan.pl\/wp-content\/uploads\/2024\/11\/image-1024x612.png 1024w, https:\/\/opus-nemo.put.poznan.pl\/wp-content\/uploads\/2024\/11\/image-300x179.png 300w, https:\/\/opus-nemo.put.poznan.pl\/wp-content\/uploads\/2024\/11\/image-768x459.png 768w, https:\/\/opus-nemo.put.poznan.pl\/wp-content\/uploads\/2024\/11\/image.png 1387w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>This manuscript investigates the integration of positional encoding \u2013 a technique widely used in computer graphics \u2013 into the input vector of a binary classification model for self-collision detection. The results demonstrate the benefits of incorporating positional encoding, which enhances classification accuracy by enabling the model to better capture high-frequency variations, leading to a more detailed and precise representation of complex collision patterns. The manuscript shows that machine learning-based techniques, such as lightweight multilayer perceptrons (MLPs) operating in a low-dimensional feature space, offer a faster alternative for collision checking than traditional methods that rely on geometric approaches, such as triangle-to-triangle intersection tests and Bounding Volume Hierarchies (BVH) for mesh-based models.<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>[1] B. Kulecki, D. Belter, Improving Machine Learning-Based Robot Self-Collision Checking with Input Positional Encoding, Foundations of Computing and Decision Sciences \u2013 2025, vol. 50(3), pp. 383-402, 2025<\/p>\n","protected":false},"excerpt":{"rendered":"<p>We are happy to announce that out article entitled &#8220;Improving Machine Learning-Based Robot Self-Collision Checking with Input Positional Encoding&#8221; was published in Foundations of Computing and Decision Sciences.<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[5],"tags":[],"class_list":{"0":"post-35","1":"post","2":"type-post","3":"status-publish","4":"format-standard","6":"category-media","7":"czr-hentry"},"_links":{"self":[{"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/posts\/35","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=35"}],"version-history":[{"count":3,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/posts\/35\/revisions"}],"predecessor-version":[{"id":62,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/posts\/35\/revisions\/62"}],"wp:attachment":[{"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=35"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=35"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=35"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}