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cuRoboV2-Fast: Fast Torque-Limited Collision-Free Motion Planning — arXiv:2611.06913

Source: arXiv (en)
Original: https://arxiv.org/abs/2611.06913
License (as archived): CC0-1.0
Archived: 2026-11-05T18:30:49.494Z
SHA-256 of the archived text: 9e144b03f358cf0e25419bfe0c6f9fa15b2b8e6248fb19022b7f7eee9fe6027b
Stable URL of this page: https://metraipolis.com/documento/dc_54656cb2ff98

How to cite

cuRoboV2-Fast: Fast Torque-Limited Collision-Free Motion Planning — arXiv:2611.06913 — arXiv (en), https://arxiv.org/abs/2611.06913 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_54656cb2ff98 (Metraipolis archive dc_54656cb2ff98, sha256 9e144b03f358cf0e25419bfe0c6f9fa15b2b8e6248fb19022b7f7eee9fe6027b)

BibTeX

@misc{dc54656cb2ff98,
  title = {cuRoboV2-Fast: Fast Torque-Limited Collision-Free Motion Planning — arXiv:2611.06913},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2611.06913},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_54656cb2ff98; sha256 9e144b03f358cf0e25419bfe0c6f9fa15b2b8e6248fb19022b7f7eee9fe6027b},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2611.06913. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

We present cuRoboV2-Fast, a GPU-accelerated planner that reduces both planning latency and execution time for collision-free, payload-aware, torque-limited motions. B-spline trajectory optimization reduces the required iterations, while accelerated robot computations and differentiable inverse dynamics reduce refinement cost and accommodate changing payloads. TimeOpt optimizes traversal speed along the fixed path under sampled velocity, acceleration, jerk, and torque constraints, exploiting local spline support to solve banded Newton systems efficiently on the GPU. With a 3,kg payload, cuRoboV2-Fast achieves 4.4 ms mean planning time on RTX 5090, 14.7x faster than cuRoboV2. Our method on Jetson AGX Orin plans faster than cuRoboV1 + TOPPRA on RTX 5090. A stereo-camera-based deployment on YAM achieves 5.93 s mean completed pick-and-drop cycles, 34.6% shorter than cuRoboV2. Code (Apache 2.0): this http URL , Project Page: this http URL .

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2611.06913 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-05T18:20:03.994Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).