# cuArms: A GPU-Accelerated Conflict-Based Planner for Multi-Arm Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/rf7zfjg3v8yybrsqq2395z094
- Original: https://arxiv.org/abs/2610.36250

## Summary

cuArms is a conflict-based planner co-designed with GPU parallelism. It decomposes the search space using reusable multi-modal roadmaps and resolves conflicts and deadlocks through lazy search. It integrates with a high-level scheduler to jointly optimize task assignment, scheduling, motion, and manipulation skills. Experiments report real-time initial solutions and anytime improvements in motion quality and scheduling, without domain training for learning-based methods. The authors say it provides demo videos on both simulated and real industrial tasks.