CAST: Collision-Aware Assembly with Construction Robots using Simultaneous Trajectory Estimation and Planning

arXiv:2609.24841 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Code: https://github.com/compasdev/compas

Project page: https://compas-rrc.github.io/compas

Terminology

• Simultaneous Trajectory Estimation and Planning — 4× in this paper
• Ablation — 3× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Gaussian Process Motion Planning — 2× in this paper
• Task Planning — 2× in this paper · explained in 2 episodes
• Amortization — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Gaussian Processes (GPs) — 1× in this paper · explained in 2 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Logic Geometric Programming — 1× in this paper
• Rapidly Exploring Random Tree — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• Cooperative Task and Motion Planning for Multi-Arm Assembly Systems

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