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

arXiv: https://arxiv.org/abs/2310.17274 · HTML: https://mlsanity.com/paper/2310.17274/

## Key facts

- Cited by 52 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Oct 2023.

## Built on by (most cited first, 30 of 52)

- [World Simulation with Video Foundation Models for Physical AI](https://mlsanity.com/paper/2511.00062/) (2025)
- [RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Robotics](https://mlsanity.com/paper/2411.16537/) (2024)
- [Large Video Planner Enables Generalizable Robot Control](https://mlsanity.com/paper/2512.15840/) (2025)
- [SAGE: Scalable Agentic 3D Scene Generation for Embodied AI](https://mlsanity.com/paper/2602.10116/) (2026)
- [DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes](https://mlsanity.com/paper/2410.23004/) (2024)
- [GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training](https://mlsanity.com/paper/2507.13097/) (2025)
- [BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities](https://mlsanity.com/paper/2503.05652/) (2025)
- [PhysPart: Physically Plausible Part Completion for Interactable Objects](https://mlsanity.com/paper/2408.13724/) (2024)
- [PRESTO: Fast Motion Planning Using Diffusion Models Based on Key-Configuration Environment Representation](https://mlsanity.com/paper/2409.16012/) (2024)
- [VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning](https://mlsanity.com/paper/2510.14930/) (2025)
- [Diffusion Knows Transparency: Repurposing Video Diffusion for Transparent Object Depth and Normal Estimation](https://mlsanity.com/paper/2512.23705/) (2025)
- [LIBERO-Safety: A Comprehensive Benchmark for Physical and Semantic Safety in Vision-Language-Action Models](https://mlsanity.com/paper/2606.23686/) (2026)
- [Maestro: Orchestrating Robotics Modules with Vision-Language Models for Zero-Shot Generalist Robots](https://mlsanity.com/paper/2511.00917/) (2025)
- [AnyTask: an Automated Task and Data Generation Framework for Advancing Sim-to-Real Policy Learning](https://mlsanity.com/paper/2512.17853/) (2025)
- [Robot Learning from Any Images](https://mlsanity.com/paper/2509.22970/) (2025)
- [ETA: A New Agentic Paradigm for Embodied Tasks](https://mlsanity.com/paper/2608.03924/) (2026)
- [Learning Multiple Initial Solutions to Optimization Problems](https://mlsanity.com/paper/2411.02158/) (2024)
- [Prime the search: Using large language models for guiding geometric task and motion planning by warm-starting tree search](https://mlsanity.com/paper/2506.07062/) (2025)
- [LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations](https://mlsanity.com/paper/2508.17547/) (2025)
- [D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping](https://mlsanity.com/paper/2603.01151/) (2026)
- [Robot-Factored World Models via Robot Rendering](https://mlsanity.com/paper/2607.22535/) (2026)
- [Coarse-to-Fine 3D Keyframe Transporter](https://mlsanity.com/paper/2502.01773/) (2025)
- [Learning in ImaginationLand: Omnidirectional Policies through 3D Generative Models (OP-Gen)](https://mlsanity.com/paper/2509.06191/) (2025)
- [DeLTa: Demonstration and Language-Guided Novel Transparent Object Manipulation](https://mlsanity.com/paper/2510.05662/) (2025)
- [MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency](https://mlsanity.com/paper/2606.15148/) (2026)
- [Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control](https://mlsanity.com/paper/2606.24208/) (2026)
- [DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration](https://mlsanity.com/paper/2608.01452/) (2026)
- [DREAM: Deployment-Time Demonstration Generation via Real-to-Sim for Scalable Policy Adaptation](https://mlsanity.com/paper/2608.29078/) (2026)
- [COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping](https://mlsanity.com/paper/2502.08054/) (2025)
- [A Hierarchical Bin Packing Framework with Dual Manipulators via Heuristic Search and Deep Reinforcement Learning](https://mlsanity.com/paper/2506.01628/) (2025)

## 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