{"id":"https://openalex.org/W7135221647","doi":"https://doi.org/10.48550/arxiv.2603.11074","title":"DRAFTO: Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization for Robotic Manipulators","display_name":"DRAFTO: Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization for Robotic Manipulators","publication_year":2026,"publication_date":"2026-03-10","ids":{"openalex":"https://openalex.org/W7135221647","doi":"https://doi.org/10.48550/arxiv.2603.11074"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.11074","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11074","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":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.2603.11074","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006442730","display_name":"Yichang Feng","orcid":"https://orcid.org/0000-0003-0765-7550"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng, Yichang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128995206","display_name":"Xiao Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Xiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128952938","display_name":"Minghui Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Minghui","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.40070000290870667,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.40070000290870667,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2502000033855438,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.12939999997615814,"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/trajectory","display_name":"Trajectory","score":0.7251999974250793},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.5799999833106995},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5738999843597412},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.569599986076355},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5663999915122986},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5235000252723694},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5034000277519226},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.48829999566078186},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4099999964237213}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7251999974250793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5845000147819519},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.5799999833106995},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5738999843597412},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.569599986076355},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5663999915122986},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5235000252723694},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5034000277519226},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4973999857902527},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.48829999566078186},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4099999964237213},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4090000092983246},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.39590001106262207},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.392300009727478},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.36640000343322754},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.36169999837875366},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.3488999903202057},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.33379998803138733},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.32670000195503235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.320499986410141},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.3165000081062317},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.3034000098705292},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.28619998693466187},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.26089999079704285},{"id":"https://openalex.org/C3309286","wikidata":"https://www.wikidata.org/wiki/Q4907693","display_name":"Bilevel optimization","level":3,"score":0.25690001249313354},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.25290000438690186},{"id":"https://openalex.org/C177067428","wikidata":"https://www.wikidata.org/wiki/Q17013331","display_name":"Feasible region","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.11074","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11074","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":"doi:10.48550/arxiv.2603.11074","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11074","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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,20,43,68,92,103,155],"new":[4],"algorithm":[5],"for":[6,25,48,73,81,106,161],"trajectory":[7,49],"optimization,":[8],"Decoupled":[9],"Reduced-space":[10],"and":[11,30,77,83,126,128,135,141,146],"Adaptive":[12],"Feasibility-repair":[13],"Trajectory":[14],"Optimization":[15],"(DRAFTO).":[16],"It":[17],"first":[18],"constructs":[19],"constrained":[21,57,78],"objective":[22],"that":[23],"accounts":[24],"smoothness,":[26],"safety,":[27],"joint":[28],"limits,":[29],"task":[31],"requirements.":[32],"Then,":[33],"it":[34],"optimizes":[35],"the":[36,40,53,63,74,98,138,159],"coefficients,":[37],"which":[38,101],"are":[39],"coordinates":[41],"of":[42,45,55,114],"set":[44],"basis":[46],"functions":[47],"parameterization.":[50],"To":[51],"reduce":[52],"number":[54],"repeated":[56],"optimizations":[58],"while":[59],"handling":[60],"joint-limit":[61],"feasibility,":[62],"optimization":[64],"is":[65,95,170],"decoupled":[66],"into":[67],"reduced-space":[69],"Gauss-Newton":[70],"(GN)":[71],"descent":[72],"main":[75],"iterations":[76],"quadratic":[79],"programming":[80],"initialization":[82],"terminal":[84],"feasibility":[85],"repair.":[86],"The":[87,112,148,167],"two-phase":[88],"acceptance":[89],"rule":[90],"with":[91],"non-monotone":[93],"policy":[94],"applied":[96],"to":[97,109],"GN":[99],"model,":[100],"uses":[102],"hinge-squared":[104],"penalty":[105],"inequality":[107],"constraints,":[108],"ensure":[110],"globalizability.":[111],"results":[113],"our":[115],"benchmark":[116],"tests":[117],"against":[118],"optimization-based":[119],"planners,":[120,130],"such":[121,131],"as":[122,132],"CHOMP,":[123],"TrajOpt,":[124],"GPMP2,":[125],"FACTO,":[127],"sampling-based":[129],"RRT-Connect,":[133],"RRT*,":[134],"PRM,":[136],"validate":[137],"high":[139],"efficiency":[140],"reliability":[142],"across":[143],"diverse":[144],"scenarios":[145],"tasks.":[147,166],"experiment":[149],"involving":[150],"grabbing":[151],"an":[152],"object":[153],"from":[154],"drawer":[156],"further":[157],"demonstrates":[158],"potential":[160],"implementation":[162],"in":[163],"complex":[164],"manipulation":[165],"supplemental":[168],"video":[169],"available":[171],"at":[172],"https://youtu.be/XisFI37YyTQ.":[173]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-14T00:00:00"}