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About this paper
Philip Huang, Chenrui Gao, Jiaoyang Li
VAMP-MR adapts single-arm VAMP collision checking to multiple robot arms, batching configurations so CPU hardware tests collisions in parallel. In Panda Four, motion validation took 32.61 μs, compared with 4,836.50 μs for FCL, a reported 148.3× speedup. The paper also reports faster planning, shortcutting, and temporal plan graph construction, but some difficult planning cases remain unsolved within one minute.
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