{"id":"https://openalex.org/W2961188780","doi":"https://doi.org/10.1109/tro.2020.3006716","title":"Motion Planning Networks: Bridging the Gap Between Learning-Based and Classical Motion Planners","display_name":"Motion Planning Networks: Bridging the Gap Between Learning-Based and Classical Motion Planners","publication_year":2020,"publication_date":"2020-08-03","ids":{"openalex":"https://openalex.org/W2961188780","doi":"https://doi.org/10.1109/tro.2020.3006716","mag":"2961188780"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2020.3006716","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3006716","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1907.06013","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056336556","display_name":"Ahmed H. Qureshi","orcid":"https://orcid.org/0000-0003-2104-2333"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ahmed Hussain Qureshi","raw_affiliation_strings":["University of California San Diego, La Jolla, CA, USA","University of California-San Diego, La Jolla, CA USA"],"raw_orcid":"https://orcid.org/0000-0003-2104-2333","affiliations":[{"raw_affiliation_string":"University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"University of California-San Diego, La Jolla, CA USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020677334","display_name":"Yinglong Miao","orcid":"https://orcid.org/0000-0002-5248-7565"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yinglong Miao","raw_affiliation_strings":["University of California San Diego, La Jolla, CA, USA","University of California-San Diego, La Jolla, CA USA"],"raw_orcid":"https://orcid.org/0000-0002-5248-7565","affiliations":[{"raw_affiliation_string":"University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"University of California-San Diego, La Jolla, CA USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026449499","display_name":"Anthony Simeonov","orcid":"https://orcid.org/0000-0002-2573-2510"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony Simeonov","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA","Massachusetts Institute of Technology Cambridge, MA USA"],"raw_orcid":"https://orcid.org/0000-0002-2573-2510","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology Cambridge, MA USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054598974","display_name":"Michael C. Yip","orcid":"https://orcid.org/0000-0001-9689-0172"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael C. Yip","raw_affiliation_strings":["University of California San Diego, La Jolla, CA, USA","University of California-San Diego, La Jolla, CA USA"],"raw_orcid":"https://orcid.org/0000-0001-9689-0172","affiliations":[{"raw_affiliation_string":"University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"University of California-San Diego, La Jolla, CA USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.771,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.69771603,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"37","issue":"1","first_page":"48","last_page":"66"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.996999979019165,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7826613187789917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6817430853843689},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6555074453353882},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6031687259674072},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.5903602242469788},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.5842530727386475},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.571397602558136},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5217427015304565},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4376251697540283},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3596544563770294}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7826613187789917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6817430853843689},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6555074453353882},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6031687259674072},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.5903602242469788},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.5842530727386475},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.571397602558136},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5217427015304565},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4376251697540283},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3596544563770294},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2020.3006716","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3006716","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1907.06013","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1907.06013","pdf_url":"https://arxiv.org/pdf/1907.06013","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2961188780","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1907.06013","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1907.06013","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1907.06013","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1907.06013","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1907.06013","pdf_url":"https://arxiv.org/pdf/1907.06013","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6499999761581421,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4937603922","display_name":null,"funder_award_id":"1935329","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":90,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1485487406","https://openalex.org/W1485661534","https://openalex.org/W1515851193","https://openalex.org/W1516027685","https://openalex.org/W1557499844","https://openalex.org/W1814533834","https://openalex.org/W1971086298","https://openalex.org/W1971458750","https://openalex.org/W1976930960","https://openalex.org/W1977655452","https://openalex.org/W1993282304","https://openalex.org/W2012587148","https://openalex.org/W2021464228","https://openalex.org/W2033013465","https://openalex.org/W2038131922","https://openalex.org/W2077091230","https://openalex.org/W2086860466","https://openalex.org/W2095705004","https://openalex.org/W2099471712","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2110762409","https://openalex.org/W2119717200","https://openalex.org/W2141664020","https://openalex.org/W2145339207","https://openalex.org/W2146502635","https://openalex.org/W2163178194","https://openalex.org/W2173248099","https://openalex.org/W2211552581","https://openalex.org/W2218318129","https://openalex.org/W2258731934","https://openalex.org/W2415288898","https://openalex.org/W2515082088","https://openalex.org/W2529601334","https://openalex.org/W2529658650","https://openalex.org/W2575705757","https://openalex.org/W2605111497","https://openalex.org/W2610395436","https://openalex.org/W2734314755","https://openalex.org/W2734976864","https://openalex.org/W2753738274","https://openalex.org/W2795756076","https://openalex.org/W2877466430","https://openalex.org/W2885010347","https://openalex.org/W2894417726","https://openalex.org/W2941397484","https://openalex.org/W2951004968","https://openalex.org/W2962724315","https://openalex.org/W2962736495","https://openalex.org/W2962740025","https://openalex.org/W2962758608","https://openalex.org/W2963439114","https://openalex.org/W2963568027","https://openalex.org/W2963641140","https://openalex.org/W2963817681","https://openalex.org/W2964048876","https://openalex.org/W2964059111","https://openalex.org/W2964161785","https://openalex.org/W2967969632","https://openalex.org/W2970586779","https://openalex.org/W2988885761","https://openalex.org/W2996320348","https://openalex.org/W3003648623","https://openalex.org/W3103346840","https://openalex.org/W3106475722","https://openalex.org/W4205513846","https://openalex.org/W4241811150","https://openalex.org/W6605295560","https://openalex.org/W6617145748","https://openalex.org/W6640963894","https://openalex.org/W6644448126","https://openalex.org/W6674330103","https://openalex.org/W6681435938","https://openalex.org/W6682849425","https://openalex.org/W6684921986","https://openalex.org/W6688386640","https://openalex.org/W6692405165","https://openalex.org/W6704571135","https://openalex.org/W6737327832","https://openalex.org/W6740990346","https://openalex.org/W6744627333","https://openalex.org/W6745097017","https://openalex.org/W6748613090","https://openalex.org/W6752217255","https://openalex.org/W6753870404","https://openalex.org/W6756754374","https://openalex.org/W6771619369"],"related_works":["https://openalex.org/W2808278079","https://openalex.org/W3093196803","https://openalex.org/W2762384326","https://openalex.org/W1547744999","https://openalex.org/W2531063545","https://openalex.org/W2199171022","https://openalex.org/W2919213154","https://openalex.org/W2285302855","https://openalex.org/W2123475753","https://openalex.org/W3183167628","https://openalex.org/W2562845103","https://openalex.org/W2737443454","https://openalex.org/W2949457334","https://openalex.org/W2070528065","https://openalex.org/W1519517979","https://openalex.org/W2096649264","https://openalex.org/W2343153154","https://openalex.org/W3188822535","https://openalex.org/W3207196785","https://openalex.org/W3106159194"],"abstract_inverted_index":{"This":[0],"article":[1],"describes":[2],"motion":[3,15,190],"planning":[4,16,28,150,181,191],"networks":[5,20],"(MPNet),":[6],"a":[7,49,75,99,153,185],"computationally":[8],"efficient,":[9],"learning-based":[10],"neural":[11,19,91,180],"planner":[12],"for":[13,26,133,141,188],"solving":[14,189],"problems.MPNet":[17],"uses":[18],"to":[21,60,67,125,159],"learn":[22,126],"general":[23,183],"near-optimal":[24,72],"heuristics":[25],"path":[27],"in":[29,74,98,152,164,182],"seen":[30],"and":[31,52,56,71,107,130,148,166,173,178],"unseen":[32],"environments.":[33],"It":[34],"takes":[35],"environment":[36],"information":[37],"such":[38],"as":[39,46,48,184],"raw":[40],"point":[41],"cloud":[42],"from":[43,127,157],"depth":[44],"sensors,":[45],"well":[47],"robot's":[50],"initial":[51],"desired":[53],"goal":[54],"configurations":[55],"recursively":[57],"calls":[58],"itself":[59],"bidirectionally":[61],"generate":[62],"connectable":[63,70],"paths.":[64],"In":[65],"addition":[66],"finding":[68],"directly":[69],"paths":[73],"single":[76],"pass,":[77],"we":[78,88,115],"show":[79],"that":[80,122],"worst-case":[81],"theoretical":[82],"guarantees":[83],"can":[84],"be":[85],"proven":[86],"if":[87],"merge":[89],"this":[90],"network":[92],"strategy":[93,187],"with":[94,169],"classical":[95],"sample-based":[96],"planners":[97],"hybrid":[100],"approach":[101,121],"while":[102],"still":[103],"retaining":[104],"significant":[105,172],"computational":[106],"optimality":[108],"improvements.":[109],"To":[110],"train":[111],"the":[112],"MPNet":[113,124,145],"models,":[114],"present":[116],"an":[117],"active":[118],"continual":[119],"learning":[120],"enables":[123],"streaming":[128],"data":[129,140],"actively":[131],"ask":[132],"expert":[134],"demonstrations":[135],"when":[136],"needed,":[137],"drastically":[138],"reducing":[139],"training.":[142],"We":[143],"validate":[144],"against":[146],"gold-standard":[147],"state-of-the-art":[149],"methods":[151],"variety":[154],"of":[155],"problems":[156,192],"two-dimensional":[158],"seven-dimensional":[160],"robot":[161],"configuration":[162],"spaces":[163],"challenging":[165],"cluttered":[167],"environments,":[168],"results":[170],"showing":[171],"consistently":[174],"stronger":[175],"performance":[176],"metrics,":[177],"motivating":[179],"modern":[186],"efficiently.":[193]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}