ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation

arXiv:2609.24497 · cs.RO, cs.AR · Submitted 2026-09-21 · Read on arXiv

cs.RO, cs.AR

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Sparsity — 11× in this paper · explained in 4 episodes
• Steering — 8× in this paper · explained in 2 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Ablation study — 4× in this paper · explained in 1 episode
• Energy Efficiency — 4× in this paper · explained in 3 episodes
• Abstraction — 3× in this paper · explained in 1 episode
• Computational overhead — 3× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 3× in this paper
• Pruning — 3× in this paper · explained in 4 episodes
• Verification — 3× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Design Automation Conference — 2× in this paper
• Linear Probing — 2× in this paper · explained in 2 episodes
• Separating Axis Theorem — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptive Strategy — 1× in this paper · explained in 1 episode
• Algorithmic Improvements — 1× in this paper · explained in 1 episode
• Axis-Aligned Bounding Box — 1× in this paper
• Calibration — 1× in this paper · explained in 7 episodes
• Clustering — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• International Symposium on High-Performance Computer Architecture — 1× in this paper
• Point Clouds — 1× in this paper · explained in 2 episodes
• Query Complexity — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• 3P-LLM: Probabilistic Path Planning using Large Language Model for Autonomous Robot Navigation
• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving