RAM: Reachability Across Morphologies

arXiv:2606.09108v1 Announce Type: cross Abstract: Many stages of the robotic lifecycle, from morphology synthesis to operation, rely fundamentally on the reachable workspace. However, current methods for approximating workspaces are slow, imprecise, or tied to a single morphology. We introduce Reachability Across Morphologies (RAM): a morphology-conditioned, implicit neural representation that acts as a fast, differentiable surrogate for pose reachability, generalising to unseen morphologies while inherently accounting for self-collisions. To train RAM, we publish a large-scale dataset of 3dot10^{10} samples generated solely from forward kinematics. Experiments show that our model achieves an F_1-score of 86% at nanosecond inference, outperforming the baseline by 14% while reducing inference time by three orders of magnitude. We further demonstrate speed-ups of one and two orders of magnitude for gradient-based morphology and trajectory optimisation, respectively. Website: https://timwalter.github.io/ram.

Source: arXiv cs.LG | 2026-06-09