Step-normalized 26-neighbor planning plus task-priority damped least-squares IK raises dense-scene success from 0.58 to 1.00 and cuts peak joint accelerations by over 10x on voxel RL paths for redundant manipulators.
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Bridging Discrete Planning and Continuous Execution for Redundant Robot
Step-normalized 26-neighbor planning plus task-priority damped least-squares IK raises dense-scene success from 0.58 to 1.00 and cuts peak joint accelerations by over 10x on voxel RL paths for redundant manipulators.