CONF Chi_ICRA_2026/IDIAP Dynamic Safety-Critical Motion Generation in Configuration Space Using Differentiable Distance Fields for Manipulators Chi, Xuemin Huang, Jihao Li, Yiming Dai, Bolun Liu, Zhitao Calinon, Sylvain EXTERNAL https://publications.idiap.ch/attachments/papers/2026/Chi_ICRA_2026.pdf PUBLIC IEEE International Conference on Robotics and Automation (ICRA) 2026