CoAd: Constant-Time Planning for Continuous Goal Manipulation with Compressed Library and Online Adaptation

arXiv:2603.12488 · cs.RO · Submitted 2026-03-12 · Read on arXiv

cs.RO

Submitted: 2026-03-12

Updated: 2026-09-17

Code: https://github.com/elpis-lab/CoAd

Terminology

• Adaptation — 42× in this paper · explained in 1 episode
• Linear Interpolation — 8× in this paper
• Task Coverage Region — 5× in this paper
• Verification — 5× in this paper · explained in 2 episodes
• Online Adaptation — 3× in this paper · explained in 3 episodes
• Simple Trajectory Optimization — 3× in this paper
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Worcester Polytechnic Institute — 1× in this paper

Sources

• The State of Robot Motion Generation
• COVER:COverage-VErified Roadmaps for Fixed-time Motion Planning in Continuous Semi-Static Environments

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