ReVAMP: Vector-Accelerated Motion Planning for Kinematically-Constrained Systems via Reparameterization

arXiv:2609.30213 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Terminology

• Redundancy — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Elias — 1× in this paper · explained in 2 episodes
• Inverse Function Theorem — 1× in this paper
• Latent Space — 1× in this paper · explained in 7 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Vectorizing Projection in Manifold-Constrained Motion Planning for Real-Time Whole-Body Control
• A Framework for Combining Optimization-Based and Analytic Inverse Kinematics

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