{"id":"https://openalex.org/W4211055164","doi":"https://doi.org/10.1109/tase.2022.3146967","title":"Graph Wasserstein Autoencoder-Based Asymptotically Optimal Motion Planning With Kinematic Constraints for Robotic Manipulation","display_name":"Graph Wasserstein Autoencoder-Based Asymptotically Optimal Motion Planning With Kinematic Constraints for Robotic Manipulation","publication_year":2022,"publication_date":"2022-02-09","ids":{"openalex":"https://openalex.org/W4211055164","doi":"https://doi.org/10.1109/tase.2022.3146967"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3146967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3146967","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.ulster.ac.uk/en/publications/cd71e1d2-5e36-40b9-a648-6cf1cfab445d","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014423743","display_name":"Chongkun Xia","orcid":"https://orcid.org/0000-0001-5396-7643"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chongkun Xia","raw_affiliation_strings":["Intelligent Control and Tele-Science Research Center, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-5396-7643","affiliations":[{"raw_affiliation_string":"Intelligent Control and Tele-Science Research Center, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038287028","display_name":"Yunzhou Zhang","orcid":"https://orcid.org/0000-0003-0610-3732"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhou Zhang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-0610-3732","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070227862","display_name":"Sonya Coleman","orcid":"https://orcid.org/0000-0002-4676-7640"},"institutions":[{"id":"https://openalex.org/I138801177","display_name":"University of Ulster","ror":"https://ror.org/01yp9g959","country_code":"GB","type":"education","lineage":["https://openalex.org/I138801177"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sonya A. Coleman","raw_affiliation_strings":["School of Computing and Intelligent Systems, Ulster University, Derry, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4676-7640","affiliations":[{"raw_affiliation_string":"School of Computing and Intelligent Systems, Ulster University, Derry, U.K","institution_ids":["https://openalex.org/I138801177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035657472","display_name":"Ching-Yen Weng","orcid":"https://orcid.org/0000-0002-8499-4414"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ching-Yen Weng","raw_affiliation_strings":["Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076885280","display_name":"Houde Liu","orcid":"https://orcid.org/0000-0002-7314-3366"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Houde Liu","raw_affiliation_strings":["Intelligent Control and Tele-Science Research Center, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control and Tele-Science Research Center, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049178712","display_name":"Shichang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shichang Liu","raw_affiliation_strings":["SIASUN Robot & Automation Company Ltd, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SIASUN Robot & Automation Company Ltd, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046605612","display_name":"I\u2010Ming Chen","orcid":"https://orcid.org/0000-0002-4831-3781"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"I-Ming Chen","raw_affiliation_strings":["Robotics Research Centre, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-4831-3781","affiliations":[{"raw_affiliation_string":"Robotics Research Centre, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5014423743"],"corresponding_institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.5102,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.62150608,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"20","issue":"1","first_page":"244","last_page":"257"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8654245734214783},{"id":"https://openalex.org/keywords/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.6847959756851196},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.5985088348388672},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.553928554058075},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5331883430480957},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5190094709396362},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5068095326423645},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.49589332938194275},{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.4948100447654724},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.429239422082901},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.41835343837738037},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4024639129638672},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.396524041891098},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32575780153274536},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.26446354389190674},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25700169801712036},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1948486864566803},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1691575050354004}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8654245734214783},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.6847959756851196},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.5985088348388672},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.553928554058075},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5331883430480957},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5190094709396362},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5068095326423645},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.49589332938194275},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.4948100447654724},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.429239422082901},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.41835343837738037},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4024639129638672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.396524041891098},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32575780153274536},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26446354389190674},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25700169801712036},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1948486864566803},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1691575050354004},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2022.3146967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3146967","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire/cd71e1d2-5e36-40b9-a648-6cf1cfab445d","is_oa":true,"landing_page_url":"https://pure.ulster.ac.uk/en/publications/cd71e1d2-5e36-40b9-a648-6cf1cfab445d","pdf_url":null,"source":{"id":"https://openalex.org/S4306402454","display_name":"Ulster University Research Portal (Ulster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138801177","host_organization_name":"University of Ulster","host_organization_lineage":["https://openalex.org/I138801177"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Xia, C, Zhang, Y, Coleman, S A, Weng, C Y, Liu, H, Liu, S & Chen, I M 2023, 'Graph Wasserstein Autoencoder-Based Asymptotically Optimal Motion Planning With Kinematic Constraints for Robotic Manipulation', IEEE Transactions on Automation Science and Engineering, vol. 20, no. 1, pp. 244-257. https://doi.org/10.1109/TASE.2022.3146967","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:openaire/cd71e1d2-5e36-40b9-a648-6cf1cfab445d","is_oa":true,"landing_page_url":"https://pure.ulster.ac.uk/en/publications/cd71e1d2-5e36-40b9-a648-6cf1cfab445d","pdf_url":null,"source":{"id":"https://openalex.org/S4306402454","display_name":"Ulster University Research Portal (Ulster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138801177","host_organization_name":"University of Ulster","host_organization_lineage":["https://openalex.org/I138801177"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Xia, C, Zhang, Y, Coleman, S A, Weng, C Y, Liu, H, Liu, S & Chen, I M 2023, 'Graph Wasserstein Autoencoder-Based Asymptotically Optimal Motion Planning With Kinematic Constraints for Robotic Manipulation', IEEE Transactions on Automation Science and Engineering, vol. 20, no. 1, pp. 244-257. https://doi.org/10.1109/TASE.2022.3146967","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6800000071525574,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2265996673","display_name":null,"funder_award_id":"U1813216","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4112804273","display_name":null,"funder_award_id":"61403120111","funder_id":"https://openalex.org/F4320337861","funder_display_name":"Foundation of Equipment Pre-research Area"},{"id":"https://openalex.org/G4285396571","display_name":null,"funder_award_id":"61973066","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6153987051","display_name":null,"funder_award_id":"61803221","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G870713855","display_name":null,"funder_award_id":"N2004022","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320337861","display_name":"Foundation of Equipment Pre-research Area","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1630678085","https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1971086298","https://openalex.org/W2000359213","https://openalex.org/W2004100691","https://openalex.org/W2021118704","https://openalex.org/W2101043416","https://openalex.org/W2110762409","https://openalex.org/W2112271657","https://openalex.org/W2116341502","https://openalex.org/W2142224528","https://openalex.org/W2409044193","https://openalex.org/W2485089179","https://openalex.org/W2686198515","https://openalex.org/W2738195924","https://openalex.org/W2769663693","https://openalex.org/W2907492528","https://openalex.org/W2919087791","https://openalex.org/W2963439114","https://openalex.org/W2963746531","https://openalex.org/W2964900087","https://openalex.org/W2971244547","https://openalex.org/W2974009533","https://openalex.org/W2978139208","https://openalex.org/W3005144047","https://openalex.org/W3011646207","https://openalex.org/W3014017504","https://openalex.org/W3022310485","https://openalex.org/W3034015697","https://openalex.org/W3047385205","https://openalex.org/W3103346840","https://openalex.org/W3159160396","https://openalex.org/W6631190155","https://openalex.org/W6636808768","https://openalex.org/W6745535286"],"related_works":["https://openalex.org/W2137520303","https://openalex.org/W2389713625","https://openalex.org/W2381469031","https://openalex.org/W2107702345","https://openalex.org/W2364686755","https://openalex.org/W1483720348","https://openalex.org/W2156459680","https://openalex.org/W2154038478","https://openalex.org/W3010232858","https://openalex.org/W4211055164"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,24,36,130,172,225],"learning":[4,66],"based":[5,34,229],"motion":[6,17,94,178,213],"planning":[7,18,63,74,133,155,160,179,202,252,267,271],"method":[8,32,128,151,180,256],"for":[9,61,90,181,269],"robotic":[10,188],"manipulation,":[11],"aiming":[12],"to":[13,50,76,84,103,121,163,170,193,208,210,232,243],"solve":[14],"the":[15,30,52,57,67,73,81,86,105,112,123,126,143,149,158,194,211,217,234,239],"asymptotically-optimal":[16],"problem":[19],"with":[20],"nonlinear":[21],"kinematics":[22],"in":[23,80,142,216,264,273],"complex":[25],"environment.":[26,219],"The":[27,96,254],"core":[28],"of":[29,56,111,125,132,166,250],"proposed":[31,113,127,150,255],"is":[33,48,169,257],"on":[35,230],"novel":[37],"neural":[38,226],"network":[39,227],"model,":[40],"i.e.,":[41],"graph":[42],"wasserstein":[43],"autoencoder":[44],"(GraphWAE)":[45],"network,":[46],"which":[47],"used":[49],"represent":[51],"implicit":[53,68],"sampling":[54,236],"distributions":[55,237],"configuration":[58],"space":[59],"(C-space)":[60],"sampling-based":[62,251,266],"algorithms.":[64,161,253],"Through":[65],"distributions,":[69],"we":[70,223],"can":[71,152,260],"guide":[72],"process":[75],"search":[77],"or":[78,246],"extend":[79],"desired":[82],"region":[83],"reduce":[85,245],"collision":[87,199,248],"checks":[88,249],"dramatically":[89],"fast":[91,173],"and":[92,99,108,117,138,174,190,259],"high-quality":[93,175],"planning.":[95],"theoretical":[97],"analysis":[98],"proofs":[100],"are":[101,119],"given":[102],"demonstrate":[104],"probabilistic":[106],"completeness":[107],"asymptotic":[109],"optimality":[110],"method.":[114],"Numerical":[115],"simulations":[116],"experiments":[118],"conducted":[120],"validate":[122],"effectiveness":[124],"through":[129],"series":[131],"problems":[134],"from":[135],"2D,":[136],"6D":[137],"12D":[139],"robot":[140,275],"C-spaces":[141],"challenging":[144],"scenes.":[145],"Results":[146],"indicate":[147],"that":[148],"achieve":[153],"better":[154],"performance":[156,272],"than":[157],"state-of-the-art":[159],"Note":[162],"Practitioners\u2014The":[164],"motivation":[165],"this":[167,221],"work":[168],"develop":[171],"asymptotically":[176],"optimal":[177,212],"practical":[182],"applications":[183],"such":[184],"as":[185,238],"autonomous":[186],"driving,":[187],"manipulation":[189],"others.":[191],"Due":[192],"time":[195,207],"consumption":[196],"caused":[197],"by":[198],"detection,":[200],"current":[201],"algorithms":[203,268],"usually":[204],"take":[205],"much":[206],"converge":[209],"path":[214],"especially":[215],"complicated":[218],"In":[220],"paper,":[222],"present":[224],"model":[228],"GraphWAE":[231],"learn":[233],"biasing":[235],"sample":[240],"generation":[241],"source":[242],"further":[244],"avoid":[247],"general":[258],"be":[261],"also":[262],"deployed":[263],"other":[265],"improving":[270],"different":[274],"applications.":[276]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}