CaSCo: Cascade-Aware Soft-Collision Motion Planning

arXiv:2609.18910 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Pruning — 5× in this paper · explained in 4 episodes
• Admissibility — 2× in this paper · explained in 2 episodes
• Affordance — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• Contact-Aware Motion Planning Among Movable Objects
• IMPACT: Intelligent Motion Planning with Acceptable Contact Trajectories via Vision-Language Models
• Direct Contact-Tolerant Motion Planning With Vision Language Models

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