Fiber-Normalized Manipulability and Determinant Proxies: Intrinsic Redundancy Optimization Across and Within Task Fibers

arXiv:2609.32079 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Terminology

• Redundancy — 24× in this paper · explained in 2 episodes
• Task Planning — 5× in this paper · explained in 2 episodes
• Objective Function — 2× in this paper · explained in 2 episodes
• Local Optimization — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes

Sources

• Drag-Aware Aerodynamic Manipulability for Torque-Limited Redundant Multirotors: Aerodynamic Promptness based on the Symmetric Acceleration Capacity

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