Toward Generalist Neural Motion Planners for Robotic Manipulators: Challenges and Opportunities

ArXi:2603.24318v1 Announce Type: cross State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in cluttered environments primarily because they utilize auxiliary modules for low-level motion planning and control. Motion planning remains challenging due to the high dimensionality of the robot's configuration space and the presence of workspace obstacles.