cuArms is a GPU-accelerated conflict-based planner designed for multi-arm manipulation tasks. It decomposes the search space using reusable multi-modal roadmaps for each robot and resolves conflicts and deadlocks via a lazy search, while a high-level scheduler proposes candidate skeletons for joint optimization of task assignment, schedules, motions, and manipulation skills. Experimental results demonstrate real-time initial solutions and anytime improvements in motion quality and scheduling, outperforming previous methods that required extensive domain-specific training.
arXiv:2606. 26423v1 Announce Type: cross Abstract: Long-horizon, contact-rich complex manipulation tasks, such as seating a GPU into a PCIe slot, demand both millimeter high precision and out-of-the-box generalization to new tasks.
arXiv:2504. 17901v3 Announce Type: replace-cross Abstract: Task and motion planning (TAMP) is a well-established approach for solving long-horizon robot planning problems.
arXiv:2602.16863v3 Announce Type: replace-cross Abstract: The ability to manipulate tools significantly expands the set of tasks a robot can perform. Yet, tool manipulation represents a challenging c...
arXiv:2609.12541v1 Announce Type: new Abstract: We demonstrate that a general-purpose agent can directly drive a physical robot throughout task execution without any task-specific or environment-spec...
DemoStream is a Task and Motion Planning (TAMP) system that uses GPU‑accelerated batched sampling to generate high‑quality demonstrations for robotic manipulation. By optimizing demonstration quality and exploring many solutions in parallel, it improves behavior cloning success rates and enables real‑world demo collection at an average of 66 demos per hour. The approach evaluates different action spaces, cost functions, and batch sizes in simulation to understand their impact on downstream policy performance.
arXiv:2607. 22119v1 Announce Type: cross Abstract: Multi-stream robot manipulation policies achieve unparalleled sample efficiency and generalization by modeling actions relative to environmental reference frames.
The paper introduces the Behavioral Constant-Time Motion Planner (B-CTMP), an extension of Constant-Time Motion Planning that handles two-step manipulation tasks in semi-structured environments. B-CTMP constructs neighborhoods in object-pose space and uses statistical certification to ensure a user-specified success rate, caching plans only when repeated rollouts meet this threshold. The method is evaluated on shelf picking, plug insertion, and wheel replacement, showing consistent success where baseline planners fail and rejecting infeasible poses in constant time.
arXiv:2506. 04147v5 Announce Type: replace-cross Abstract: Building capable household and industrial robots requires mastering the control of versatile, high-degree-of-freedom (DoF) systems such as mobile manipulators.
arXiv:2505. 03296v2 Announce Type: replace-cross Abstract: We present Mixture of Discrete-time Gaussian Processes (MiDiGap), a novel approach for flexible policy representation and imitation learning in robot manipulation.
The paper introduces a closed‑loop framework to evaluate frontier AI models on the LIBERO‑10 robot manipulation benchmark, allowing models to control a robot via visual inputs, proprioception, and tool calls without task‑specific fine‑tuning. Six models (GPT‑6 Astra, GPT‑6.1 Sol, GPT‑6 Luna, Claude Opus 5, Claude Opus 5.5, Gemini‑4 Argon) were tested across 18 configurations and 1,800 episodes, with GPT‑6 Astra achieving the highest success rate of 44%. Results show that higher reasoning effort generally improves performance, yet benefits vary by model and task, and many models struggle with precise spatial arrangements and complex multi‑step interactions.
arXiv:2609.01596v1 Announce Type: cross Abstract: Real-world robotic assembly at sub-millimeter tolerances demands spatial precision, compliant interaction, and robustness to contact failures. We pre...
arXiv:2607. 04434v1 Announce Type: cross Abstract: Generalist robot manipulation policies have advanced rapidly, yet existing benchmarks remain limited in systematically evaluating their capabilities.