# DiffCo: Autodifferentiable Proxy Collision Detection With Multiclass Labels for Safety-Aware Trajectory Optimization

> Research article (IEEE Transactions on Robotics, 2022) · cited 35× · AI/ML

**Wikidata**: [openalex:W3132396086](https://www.wikidata.org/wiki/openalex:W3132396086)  
**Source**: https://4ort.xyz/entity/diffco-autodifferentiable-proxy-collision-detection-with-multiclass-labels-for-safety-aware-trajectory-optimization