CONF Li_ICRA-2_2024/IDIAP Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation Li, Yiming Zhang, Yan Razmjoo, Amirreza Calinon, Sylvain EXTERNAL https://publications.idiap.ch/attachments/papers/2024/Li_ICRA-2_2024.pdf PUBLIC IEEE International Conference on Robotics and Automation 2024