@article{analyticconditionsfordifferentiablecolli,
  title = {Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization},
  author = {Akshay Jaitly and Devesh K. Jha and Kei Ota and Yuki Shirai},
  year = {2025},
  eprint = {2509.26459},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.26459},
}