cuArms: GPU-Accelerated Conflict-Based Planning for Multi-Arm Manipulation

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Multi-arm manipulation has the potential to dramatically improve the throughput, efficiency, and dexterity of many manipulation tasks. Recent work coordinates multiple robot arms in a shared workcell by allocating and scheduling tasks for greater parallelism, jointly planning multi-arm motions, or directly learning multi-arm policies. So far, these approaches are either too slow, rely on domain-specific assumptions, or scale poorly with the number of robots and task horizon. Thus, we introduce cuArms, a conflict-based planner co-designed with GPU parallelism that efficiently decomposes the search space using reusable multi-modal roadmaps for individual robots and resolves conflicts and deadlocks through a lazy search. To jointly optimize task assignment, schedules, motions, and manipulation skills, we integrate a high-level scheduler that proposes candidate skeletons for cuArms to ground into coordinated manipulation plans. Experimental results show that our method establishes a new state of the art, with real-time initial solutions and anytime improvements in both motion quality and scheduling, without days of domain-specific training required by learning approaches. Videos of both simulated and real-world industrial tasks are available on https://cuarms.github.io/.

Links and sources

• Official / arXiv page
• PDF from original source

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