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CaSCo: Cascade-Aware Soft-Collision Motion Planning

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Conventional motion planning treats collision as a binary constraint, although contact with different objects can have drastically different consequences. A robot may safely brush against a cardboard box while even minor contact with a glass, laptop, or unstable object may be undesirable. Moreover, a direct robot--object collision can move the contacted object and trigger secondary object--object collisions, making the risk of a motion depend on the physical evolution of the scene rather than only on the robot's geometric path. We present CaSCo, a cascade-aware soft-collision motion planning f

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