mlsanityData to 7 Oct 2026

cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation

arXiv 2310.17274 ↗First posted 26 Oct 2023cs.RO cs.AR cs.DCcited by 46

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Abstract (arXiv)

This paper explores the problem of collision-free motion generation for manipulators by formulating it as a global motion optimization problem. We develop a parallel optimization technique to solve this problem and demonstrate its effectiveness on massively parallel GPUs. We show that combining simple optimization techniques with many parallel seeds leads to solving difficult motion generation problems within 50ms on average, 60x faster than state-of-the-art (SOTA) trajectory optimization methods. We achieve SOTA performance by combining L-BFGS step direction estimation with a novel parallel noisy line search scheme and a particle-based optimization solver. To further aid trajectory optimization, we develop a parallel geometric planner that plans within 20ms and also introduce a collision-free IK solver that can solve over 7000 queries/s. We package our contributions into a state of the art GPU accelerated motion generation library, cuRobo and release it to enrich the robotics community. Additional details are available at https://curobo.org

Key facts. Cited by 46 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Oct 2023.

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Citing papers per year: 2024: 5; 2025: 21; 2026: 20.

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  1. 2025World Simulation with Video Foundation Models for Physical AIcited by 183
  2. 2024RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Roboticscited by 133
  3. 2025Large Video Planner Enables Generalizable Robot Controlcited by 67
  4. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenescited by 41
  5. 2026SAGE: Scalable Agentic 3D Scene Generation for Embodied AIcited by 40
  6. 2025GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Trainingcited by 32
  7. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 29
  8. 2024PhysPart: Physically Plausible Part Completion for Interactable Objectscited by 24
  9. 2024PRESTO: Fast Motion Planning Using Diffusion Models Based on Key-Configuration Environment Representationcited by 11
  10. 2025VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuningcited by 10
  11. 2025Diffusion Knows Transparency: Repurposing Video Diffusion for Transparent Object Depth and Normal Estimationcited by 9
  12. 2025Maestro: Orchestrating Robotics Modules with Vision-Language Models for Zero-Shot Generalist Robotscited by 8
34 more
  1. 2025AnyTask: an Automated Task and Data Generation Framework for Advancing Sim-to-Real Policy Learningcited by 8
  2. 2026LIBERO-Safety: A Comprehensive Benchmark for Physical and Semantic Safety in Vision-Language-Action Modelscited by 8
  3. 2025Robot Learning from Any Imagescited by 7
  4. 2026ETA: A New Agentic Paradigm for Embodied Taskscited by 6
  5. 2024Learning Multiple Initial Solutions to Optimization Problemscited by 4
  6. 2025Prime the search: Using large language models for guiding geometric task and motion planning by warm-starting tree searchcited by 4
  7. 2025LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrationscited by 3
  8. 2026Robot-Factored World Models via Robot Renderingcited by 3
  9. 2025Coarse-to-Fine 3D Keyframe Transportercited by 2
  10. 2025Learning in ImaginationLand: Omnidirectional Policies through 3D Generative Models (OP-Gen)cited by 2
  11. 2025DeLTa: Demonstration and Language-Guided Novel Transparent Object Manipulationcited by 2
  12. 2026MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistencycited by 2
  13. 2026DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstrationcited by 2
  14. 2025Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Controlcited by 1
  15. 2026D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Graspingcited by 1
  16. 2026Toward Generalist Neural Motion Planners for Robotic Manipulators: Challenges and Opportunitiescited by 1
  17. 2026Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Controlcited by 1
  18. 2026E-TTS: A New Embodied Test-Time Scaling Framework for Robotic Manipulationcited by 1
  19. 2026DREAM: Deployment-Time Demonstration Generation via Real-to-Sim for Scalable Policy Adaptationcited by 1
  20. 2025COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Graspingcited by 0
  21. 2025Object-Focus Actor for Data-efficient Robot Generalization Dexterous Manipulationcited by 0
  22. 2025ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Schedulingcited by 0
  23. 2025Constant-Time Planning for Chaining Collision-free Motion to Manipulation Behaviorscited by 0
  24. 2025A Comprehensive Framework for Automated Quality Control in the Automotive Industrycited by 0
  25. 2025Sceniris: A Fast Procedural Scene Generation Frameworkcited by 0
  26. 2026GraspIT: A Dataset Bridging the Sim-to-Real gap and back for Validated Grasping SE(3) Pose Generationcited by 0
  27. 2026N0-Foundation: Towards the Age of Tactile Intelligencecited by 0
  28. 2026GloVLA: Let Geometry Move and Local VLA Interact for Robust Object-Centric Manipulation in Unstructured Environmentscited by 0
  29. 2026CodeActionBench: Evaluating Agentic Code-as-Policy for Embodied Manipulationcited by 0
  30. 2026Test-Time Spatial Reasoning for Robot Manipulation Using Generative Real-to-Simcited by 0
  31. 2026ZeroBot: Learning from Scratch in Minutes with Generative Real2Simcited by 0
  32. 2026X-Reset: Scaling Object-Centric Reinforcement Learning via Cross-Embodiment Resetscited by 0
  33. 2026SkillWeaver: Agentic Exploration over Neural Interaction Skills for Scalable Robot Data Generationcited by 0
  34. 2026RobotWorld: Benchmarking Multimodal Agents for Robot Use Across Diverse Tasks and Embodimentscited by 0