# Shape-Aware Neural Time Fields: Physics-Informed Neural Time Fields for Rigid-Body Motion and Manipulation Planning

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/x87kzgolphzp7txmajv1gf0yu
- Original: https://arxiv.org/abs/2610.22762

## Summary

We propose Shape-Aware Neural Time Fields, a physics-informed neural motion planning framework that learns a reusable travel-time (cost-to-go) representation for rigid-body motion, explicitly distinguishing the different geometric constraints on translation and rotation, and pairs it with a sampling-based planner.