תכנון זמן קבוע לתנועה ללא פגיעה להתנהגויות תפעול

תקציר מקורי באנגליתarXiv:2512.00939v3 Announce Type: replace-cross Abstract: Recent progress in contact-rich robotic manipulation has been striking, yet most deployed systems remain confined to simple, scripted routines. One of the barriers is the lack of motion planning algorithms that can provide verifiable guarantees for safety, efficiency and reliability. Constant-Time Motion Planning (CTMP) is a recent step toward such guarantees for collision-free motion in a priori known environments:: a preprocessing phase enables queries to be answered within a fixed, user-specified time budget (e.g., 10 milliseconds). However, CTMP certifies only reachability---a binary predicate---and ignores the manipulation behavior that completes the task, which is increasingly stochastic (e.g., a learned skill) and whose succe