RoboCompiler: Graph-Native Compilation of Closed-Chain Robots for Consistent Modeling, Control, and Simulation

arXiv:2609.35717 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-29

Code: https://github.com/Mehdi-Heydari-Shahna/RoboCompiler

Terminology

• Consistency — 9× in this paper · explained in 3 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Redundancy — 5× in this paper · explained in 2 episodes
• Sparsity — 3× in this paper · explained in 4 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• External Validation — 2× in this paper · explained in 2 episodes
• Gauge Freedom — 2× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Pairwise Comparisons — 1× in this paper · explained in 2 episodes
• Pruning — 1× in this paper · explained in 4 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Extended URDF: Accounting for parallel mechanism in robot description
• Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems
• Optimal Control of Walkers with Parallel Actuation

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