{"id":"https://openalex.org/W7136135859","doi":"https://doi.org/10.48550/arxiv.2603.12488","title":"COAD: Constant-Time Planning for Continuous Goal Manipulation with Compressed Library and Online Adaptation","display_name":"COAD: Constant-Time Planning for Continuous Goal Manipulation with Compressed Library and Online Adaptation","publication_year":2026,"publication_date":"2026-03-12","ids":{"openalex":"https://openalex.org/W7136135859","doi":"https://doi.org/10.48550/arxiv.2603.12488"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.12488","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.12488","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"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":"https://doi.org/10.48550/arxiv.2603.12488","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093321126","display_name":"Adil Shiyas","orcid":"https://orcid.org/0009-0000-3997-2921"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Shiyas, Adil","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098821276","display_name":"Zhuoyun Zhong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhong, Zhuoyun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129428720","display_name":"Constantinos Chamzas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chamzas, Constantinos","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5093321126"],"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":0.37310001254081726,"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":0.37310001254081726,"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":0.3637000024318695,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.059300001710653305,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/workspace","display_name":"Workspace","score":0.7907000184059143},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7412999868392944},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6523000001907349},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5964000225067139},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5705000162124634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5245000123977661},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5152999758720398},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4862000048160553},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.41110000014305115}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7907000184059143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7501000165939331},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7412999868392944},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6523000001907349},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5964000225067139},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5705000162124634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5245000123977661},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5152999758720398},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4862000048160553},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.41110000014305115},{"id":"https://openalex.org/C171078966","wikidata":"https://www.wikidata.org/wiki/Q111029","display_name":"Root (linguistics)","level":2,"score":0.3856000006198883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37139999866485596},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3693000078201294},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.35670000314712524},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.35429999232292175},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.33970001339912415},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.31679999828338623},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.31369999051094055},{"id":"https://openalex.org/C84945661","wikidata":"https://www.wikidata.org/wiki/Q7366567","display_name":"Root cause","level":2,"score":0.31220000982284546},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.31139999628067017},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2840000092983246},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.27720001339912415},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27570000290870667},{"id":"https://openalex.org/C78548338","wikidata":"https://www.wikidata.org/wiki/Q2493","display_name":"Data compression","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.12488","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.12488","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.12488","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.12488","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"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":{"In":[0,63],"many":[1,89],"robotic":[2],"manipulation":[3],"tasks,":[4],"the":[5,15,18,26,52,83,128,141,161,171,181],"robot":[6],"repeatedly":[7],"solves":[8],"motion-planning":[9],"problems":[10,115],"that":[11,35,71,175],"differ":[12],"mainly":[13],"in":[14,134,168,195],"location":[16],"of":[17,50,61,94,180],"goal":[19,143],"object":[20],"and":[21,38,56,96,137,166,170,189,198],"its":[22],"associated":[23],"obstacle,":[24],"while":[25,184],"surrounding":[27],"workspace":[28],"remains":[29],"fixed.":[30],"Prior":[31],"works":[32],"have":[33],"shown":[34],"leveraging":[36],"experience":[37],"offline":[39],"computation":[40],"can":[41],"accelerate":[42],"repeated":[43],"planning":[44,74,95],"queries,":[45,191],"but":[46],"they":[47],"lack":[48],"guarantees":[49],"covering":[51],"continuous":[53,77,84],"task":[54,79,85],"space":[55,86],"require":[57],"storing":[58,97],"large":[59],"libraries":[60],"solutions.":[62,124],"this":[64],"work,":[65],"we":[66],"present":[67],"COAD,":[68],"a":[69,76,105,131],"framework":[70,162],"provides":[72],"constant-time":[73],"over":[75],"goal-parameterized":[78],"space.":[80],"COAD":[81,176],"discretizes":[82],"into":[87],"finitely":[88],"Task":[90],"Coverage":[91],"Regions.":[92],"Instead":[93],"solutions":[98],"for":[99],"every":[100],"region":[101],"offline,":[102],"it":[103,139],"constructs":[104],"compressed":[106],"library":[107,183],"by":[108],"only":[109],"solving":[110],"representative":[111],"root":[112,123,132],"problems.":[113],"Other":[114],"are":[116],"handled":[117],"through":[118],"fast":[119],"adaptation":[120,146],"from":[121],"these":[122],"At":[125],"query":[126],"time,":[127],"system":[129],"retrieves":[130],"motion":[133,182],"constant":[135],"time":[136],"adapts":[138],"to":[140],"desired":[142],"using":[144],"lightweight":[145],"modules":[147],"such":[148],"as":[149],"linear":[150],"interpolation,":[151],"Dynamic":[152],"Movement":[153],"Primitives,":[154],"or":[155],"simple":[156],"trajectory":[157],"optimization.":[158],"We":[159],"evaluate":[160],"on":[163],"various":[164],"manipulators":[165],"environments":[167],"simulation":[169],"real":[172],"world,":[173],"showing":[174],"achieves":[177],"substantial":[178],"compression":[179],"maintaining":[185],"high":[186],"success":[187],"rates":[188],"sub-millisecond-level":[190],"outperforming":[192],"baseline":[193],"methods":[194],"both":[196],"efficiency":[197],"path":[199],"quality.":[200],"The":[201],"source":[202],"code":[203],"is":[204],"available":[205],"at":[206],"https://github.com/elpis-lab/CoAd.":[207]},"counts_by_year":[],"updated_date":"2026-03-17T07:05:13.627479","created_date":"2026-03-17T00:00:00"}
