# Real-Time and Accurate Collision-Free Teleoperation via Differentiable Constraint-Based Trajectory Planning Source: [Real-Time and Accurate Collision-Free Teleoperation via Differentiable Constraint-Based Trajectory Planning]() Collection index: [llms.txt]() Data updated: 2026-06-10T05:01:35.776Z Authors: Max Grobbel, Tristan Schneider, Daniel Fl\\"ogel, S\\"oren Hohmann Published: 2026-06-07T16:39:56.000Z ## Abstract In teleoperation, the human operator typically controls only the end-effector pose, which often leads to self-collisions of the manipulator and collisions with environmental obstacles, since joints and links are not controlled individually. A common strategy to mitigate this issue is to enhance the operator's input using optimal-control-based trajectory planning. As derivative-based solvers require differentiable constraints, existing approaches either approximate robots and obstacles with spheres, reducing geometric accuracy, or approximate derivatives, degrading convergence and increasing computation times. We address these limitations by adapting a recent formulation of differentiable collision-avoidance constraints, based on duality in convex optimization, to the teleoperation setting. The robot is approximated with capsules and the environment with polytopes. We compare the resulting trajectory planning method against state-of-the-art techniques in simulation with varying numbers of obstacles and evaluate it on a UR5e manipulator in a real-world teleoperation test. Results show that our approach achieves lower computation times while enabling more accurate obstacle modeling, leading to smoother and collision-free end-effector teleoperation. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. - [Robot Trajectory Planning Computation on Arm jogging](): Robot Trajectory Planning Computation; Arm jogging; Mean Computation Time: 15. - [Robot Trajectory Planning Computation on Self-collision](): Robot Trajectory Planning Computation; Self-collision; Mean Time: 14. - [Robot Trajectory Planning Computation on Obstacles](): Robot Trajectory Planning Computation; Obstacles; Mean Computation Time: 14. ## Original sources and implementation [Original paper]() [PDF]()