{"id":"https://openalex.org/W7134052839","doi":"https://doi.org/10.48550/arxiv.2603.05493","title":"cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots","display_name":"cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots","publication_year":2026,"publication_date":"2026-03-05","ids":{"openalex":"https://openalex.org/W7134052839","doi":"https://doi.org/10.48550/arxiv.2603.05493"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.05493","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053446613","display_name":"Balakumar Sundaralingam","orcid":"https://orcid.org/0000-0003-3106-4755"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sundaralingam, Balakumar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114179160","display_name":"Adithyavairavan Murali","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Murali, Adithyavairavan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5040617006","display_name":"Stan Birchfield","orcid":"https://orcid.org/0000-0001-7366-2441"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Birchfield, Stan","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":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4661000072956085,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4661000072956085,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.37119999527931213,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.03350000083446503,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.5752000212669373},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5332000255584717},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5242999792098999},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.47600001096725464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47189998626708984},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46000000834465027},{"id":"https://openalex.org/keywords/codebase","display_name":"Codebase","score":0.45809999108314514},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4153999984264374},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3813999891281128},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.36959999799728394}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7411999702453613},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.5752000212669373},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5332000255584717},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5242999792098999},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47690001130104065},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.47600001096725464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47189998626708984},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46000000834465027},{"id":"https://openalex.org/C51929080","wikidata":"https://www.wikidata.org/wiki/Q2425187","display_name":"Codebase","level":3,"score":0.45809999108314514},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4357999861240387},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4153999984264374},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3813999891281128},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.36959999799728394},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.36730000376701355},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.36000001430511475},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.35120001435279846},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.3449000120162964},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3393000066280365},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3273000121116638},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3264000117778778},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.30219998955726624},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.29899999499320984},{"id":"https://openalex.org/C71169176","wikidata":"https://www.wikidata.org/wiki/Q7512907","display_name":"Signed distance function","level":2,"score":0.2953999936580658},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.28999999165534973},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.28450000286102295},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.2800000011920929},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.27790001034736633},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.2750999927520752},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.2743000090122223},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2736000120639801},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.2709999978542328},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.2671000063419342},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2667999863624573},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.2590999901294708},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.25679999589920044},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.05493","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.05493","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05493","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"pmh:doi:10.48550/arxiv.2603.05493","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Effective":[0],"robot":[1],"autonomy":[2],"requires":[3],"motion":[4,229],"generation":[5,230],"that":[6,49,61,74,118,213,232],"is":[7,241],"safe,":[8],"feasible,":[9],"and":[10,28,52,86,103,115,161,183],"reactive.":[11],"Current":[12],"methods":[13,73,158],"are":[14],"fragmented:":[15],"fast":[16],"planners":[17],"output":[18],"physically":[19],"unexecutable":[20],"trajectories,":[21],"reactive":[22],"controllers":[23],"struggle":[24],"with":[25,41,97,176],"high-fidelity":[26],"perception,":[27],"existing":[29,72],"solvers":[30],"fail":[31,159],"on":[32,152],"high-DoF":[33,128],"systems.":[34],"We":[35],"present":[36],"cuRoboV2,":[37],"a":[38,56,153,226],"unified":[39],"framework":[40],"three":[42],"key":[43],"innovations:":[44],"(1)":[45],"B-spline":[46],"trajectory":[47],"optimization":[48],"enforces":[50],"smoothness":[51],"torque":[53],"limits;":[54],"(2)":[55],"GPU-native":[57,106],"TSDF/ESDF":[58],"perception":[59],"pipeline":[60],"generates":[62],"dense":[63],"signed":[64],"distance":[65],"fields":[66],"covering":[67],"the":[68,92],"full":[69,238],"workspace,":[70],"unlike":[71],"only":[75,147],"provide":[76,225],"distances":[77],"within":[78],"sparsely":[79],"allocated":[80],"blocks,":[81],"up":[82,98,120,202],"to":[83,99,121,127,200,203,237],"10x":[84],"faster":[85],"in":[87],"8x":[88],"less":[89],"memory":[90],"than":[91,181,188],"state-of-the-art":[93],"at":[94,243],"manipulation":[95],"scale,":[96],"99%":[100],"collision":[101],"recall;":[102],"(3)":[104],"scalable":[105],"whole-body":[107],"computation,":[108],"namely":[109],"topology-aware":[110],"kinematics,":[111],"differentiable":[112],"inverse":[113],"dynamics,":[114],"map-reduce":[116],"self-collision,":[117],"achieves":[119,138],"61x":[122],"speedup":[123],"while":[124],"also":[125],"extending":[126],"humanoids":[129],"(where":[130,144,156],"previous":[131],"GPU":[132],"implementations":[133],"fail).":[134],"On":[135],"benchmarks,":[136],"cuRoboV2":[137],"99.7%":[139],"success":[140],"under":[141],"3kg":[142],"payload":[143],"baselines":[145],"achieve":[146],"72--77%),":[148],"99.6%":[149],"collision-free":[150,171],"IK":[151],"48-DoF":[154],"humanoid":[155],"prior":[157],"entirely),":[160],"89.5%":[162],"retargeting":[163],"constraint":[164],"satisfaction":[165],"(vs.":[166],"61%":[167],"for":[168,194],"PyRoki);":[169],"these":[170,223],"motions":[172],"yield":[173],"locomotion":[174],"policies":[175],"21%":[177],"lower":[178,185],"tracking":[179],"error":[180],"PyRoki":[182],"12x":[184],"cross-seed":[186],"variance":[187],"GMR.":[189],"A":[190],"ground-up":[191],"codebase":[192],"redesign":[193],"discoverability":[195],"enabled":[196],"LLM":[197],"coding":[198],"assistants":[199],"author":[201],"73%":[204],"of":[205],"new":[206],"modules,":[207],"including":[208],"hand-optimized":[209],"CUDA":[210],"kernels,":[211],"demonstrating":[212],"well-structured":[214],"robotics":[215],"code":[216],"can":[217],"unlock":[218],"productive":[219],"human-LLM":[220],"collaboration.":[221],"Together,":[222],"advances":[224],"unified,":[227],"dynamics-aware":[228],"stack":[231],"scales":[233],"from":[234],"single-arm":[235],"manipulators":[236],"humanoids.":[239],"Code":[240],"available":[242],"https://github.com/NVlabs/curobo.":[244]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-07T00:00:00"}