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Becoming a Fruit Ninja: Real-Time Probabilistic Kinodynamic Planning for Manipulator Projectile Interception

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Projectile interception is a challenging dynamic manipulation problem. Intercepting a thrown object with a robot arm requires reaching a point on the object's path as the object passes through it. Slicing also fixes the blade's velocity and orientation at contact. The goal is therefore a subset of the states of the robot and arrival times that moves as the object falls, and the arm must reach it within its actuator limits in milliseconds. We present FRUITNINJA, an anytime sampling-based planner that grows a tree on the GPU in batches toward the interception manifold. Each edge is an exact cubi

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