{"id":"https://openalex.org/W6947917670","doi":"https://doi.org/10.48550/arxiv.2508.05027","title":"Benchmarking Shortcutting Techniques for Multi-Robot-Arm Motion Planning","display_name":"Benchmarking Shortcutting Techniques for Multi-Robot-Arm Motion Planning","publication_year":2025,"publication_date":"2025-08-07","ids":{"openalex":"https://openalex.org/W6947917670","doi":"https://doi.org/10.48550/arxiv.2508.05027"},"language":"en","primary_location":{"id":"doi:10.48550/arxiv.2508.05027","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2508.05027","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2508.05027","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Huang, Philip","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Philip","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Shaoul, Yorai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shaoul, Yorai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Li, Jiaoyang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jiaoyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12859","display_name":"Cell Image Analysis Techniques","score":0.19939999282360077,"subfield":{"id":"https://openalex.org/subfields/1304","display_name":"Biophysics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T12859","display_name":"Cell Image Analysis Techniques","score":0.19939999282360077,"subfield":{"id":"https://openalex.org/subfields/1304","display_name":"Biophysics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11289","display_name":"Single-cell and spatial transcriptomics","score":0.051500000059604645,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.040300000458955765,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6212999820709229},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.5860000252723694},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5447999835014343},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5343999862670898},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.43869999051094055},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.3785000145435333},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.3668000102043152}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.722599983215332},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6212999820709229},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.5860000252723694},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5447999835014343},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5343999862670898},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.43869999051094055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4307999908924103},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.3785000145435333},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.3668000102043152},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33640000224113464},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.33390000462532043},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.31310001015663147},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3077999949455261},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2621999979019165},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.25200000405311584},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2508.05027","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2508.05027","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2508.05027","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2508.05027","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6833322048187256,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Generating":[0],"high-quality":[1],"motion":[2,25,53,67],"plans":[3],"for":[4,21,41,55,111,134],"multiple":[5],"robot":[6],"arms":[7],"is":[8,47],"challenging":[9],"due":[10],"to":[11,51,138],"the":[12,16,19,121,140],"high":[13],"dimensionality":[14],"of":[15,36,84,125],"system":[17],"and":[18,38,57,90,123,129,146],"potential":[20],"inter-arm":[22],"collisions.":[23],"Traditional":[24],"planning":[26,78],"methods":[27,110,137],"often":[28,80,95],"produce":[29],"motions":[30],"that":[31],"are":[32,94,148],"suboptimal":[33],"in":[34,61],"terms":[35],"smoothness":[37],"execution":[39],"time":[40],"multi-arm":[42,62,77,112],"systems.":[43],"Post-processing":[44],"via":[45],"shortcutting":[46,85,109,127],"a":[48,103],"common":[49],"approach":[50],"improve":[52],"quality":[54],"efficient":[56],"smooth":[58],"execution.":[59],"However,":[60],"scenarios,":[63],"optimizing":[64],"one":[65],"arm's":[66],"must":[68],"not":[69],"introduce":[70],"collisions":[71],"with":[72],"other":[73],"arms.":[74],"Although":[75],"existing":[76,108],"works":[79],"use":[81],"some":[82],"form":[83],"techniques,":[86],"their":[87],"exact":[88],"methodology":[89],"impact":[91],"on":[92],"performance":[93],"vaguely":[96],"described.":[97],"In":[98],"this":[99],"work,":[100],"we":[101],"present":[102],"comprehensive":[104],"study":[105],"quantitatively":[106],"comparing":[107],"trajectories":[113],"across":[114],"diverse":[115],"simulated":[116],"scenarios.":[117],"We":[118],"carefully":[119],"analyze":[120],"pros":[122],"cons":[124],"each":[126],"method":[128],"propose":[130],"two":[131],"simple":[132],"strategies":[133],"combining":[135],"these":[136],"achieve":[139],"best":[141],"performance-runtime":[142],"tradeoff.":[143],"Video,":[144],"code,":[145],"dataset":[147],"available":[149],"at":[150],"https://philip-huang.github.io/mr-shortcut/.":[151]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}