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About this paper
Balakumar Sundaralingam, Adithyavairavan Murali, Stan Birchfield
cuRoboV2-Fast plans motions by refining a smooth path, then optimizing timing along that fixed path. TimeOpt accounts for sampled velocity, acceleration, jerk, and payload-dependent torque limits. On Franka Panda queries with a 3 kg payload, planning was 14.7× faster than cuRoboV2. Real YAM transfers averaged 34.6% shorter cycles, though that result does not isolate TimeOpt.
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