Contact-Rich Motion Planning via GPU-Parallel Mode Evaluation

arXiv:2609.21803 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Terminology

• Benchmark — 10× in this paper · explained in 2 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Admissible Space — 5× in this paper · explained in 1 episode
• IEEE International Conference on Robotics and Automation — 5× in this paper
• Consistency — 3× in this paper · explained in 3 episodes
• Core — 3× in this paper · explained in 2 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Regularization — 2× in this paper · explained in 3 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Local Optimization — 1× in this paper · explained in 2 episodes
• Robotics Institute Germany — 1× in this paper
• Sparsity — 1× in this paper · explained in 4 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• A proximal augmented Lagrangian method for nonconvex optimization with equality and inequality constraints
• GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control
• Sequential Object Placement Optimization with Convex Decomposition
• The CMA Evolution Strategy: A Tutorial

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