{"id":"https://openalex.org/W4416834806","doi":"https://doi.org/10.48550/arxiv.2507.13940","title":"NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning","display_name":"NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning","publication_year":2025,"publication_date":"2025-07-18","ids":{"openalex":"https://openalex.org/W4416834806","doi":"https://doi.org/10.48550/arxiv.2507.13940"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2507.13940","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.13940","pdf_url":"https://arxiv.org/pdf/2507.13940","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2507.13940","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089242361","display_name":"Qingyi Chen","orcid":"https://orcid.org/0000-0001-8472-4636"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Qingyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Kingston, Zachary","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kingston, Zachary","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5056336556","display_name":"Ahmed H. Qureshi","orcid":"https://orcid.org/0000-0003-2104-2333"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qureshi, Ahmed H.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2646999955177307,"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":0.2646999955177307,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.2565999925136566,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.19460000097751617,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/scalability","display_name":"Scalability","score":0.7947999835014343},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.7777000069618225},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5942000150680542},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5623000264167786},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5216000080108643},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47940000891685486},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.4691999852657318},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.42399999499320984}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7947999835014343},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.7777000069618225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7702999711036682},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5942000150680542},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5623000264167786},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5541999936103821},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5216000080108643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5058000087738037},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47940000891685486},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.4691999852657318},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.42399999499320984},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.399399995803833},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3962000012397766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38089999556541443},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.33899998664855957},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.328900009393692},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.3276999890804291},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3221000134944916},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.30300000309944153},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28119999170303345},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2800000011920929},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2619999945163727},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.2578999996185303}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2507.13940","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.13940","pdf_url":"https://arxiv.org/pdf/2507.13940","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"pmh:oai:arXiv.org:2507.13940","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2507.13940","pdf_url":"https://arxiv.org/pdf/2507.13940","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"doi:10.48550/arxiv.2507.13940","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2507.13940","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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:2507.13940","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.13940","pdf_url":"https://arxiv.org/pdf/2507.13940","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Safe":[0],"multi-arm":[1,134],"motion":[2,135],"planning":[3,136],"is":[4,120],"a":[5,81,90,103],"challenging":[6,133],"problem":[7],"in":[8,37],"robotics":[9],"due":[10],"to":[11,88],"its":[12],"high":[13],"dimensionality,":[14],"coupled":[15],"configuration":[16],"space,":[17],"and":[18,48,67,122,128],"complex":[19],"collision":[20],"constraints.":[21,99],"Centralized":[22],"planners":[23],"are":[24,46],"capable":[25],"of":[26],"coordinating":[27],"all":[28],"arms":[29,72],"but":[30],"often":[31],"face":[32],"scalability":[33],"limitations,":[34],"restricting":[35],"applicability":[36],"real-time":[38,115],"settings.":[39],"On":[40],"the":[41,110],"other":[42,71],"hand,":[43],"decentralized":[44,104],"methods":[45],"scalable":[47,121],"recent":[49],"deep":[50],"learning-based":[51,86],"approaches":[52],"have":[53],"shown":[54],"promising":[55],"results.":[56],"However,":[57],"these":[58,77],"depend":[59],"on":[60,132],"accurate":[61],"behavior":[62],"prediction":[63],"or":[64],"coordination":[65],"protocols":[66],"may":[68],"fail":[69],"when":[70],"act":[73],"unpredictably.":[74],"To":[75],"address":[76],"challenges,":[78],"we":[79],"introduce":[80],"neural":[82],"Hamilton-Jacobi":[83],"Reachability":[84],"(HJR)":[85],"approach":[87],"approximate":[89],"safety":[91,98],"value":[92],"function":[93],"that":[94,108],"captures":[95],"worst-case":[96],"inter-arm":[97],"We":[100],"further":[101],"develop":[102],"trajectory":[105],"optimization":[106],"framework":[107],"uses":[109],"learned":[111],"HJR":[112],"representation":[113],"for":[114],"planning.":[116],"The":[117],"proposed":[118],"method":[119],"data-efficient,":[123],"generalizes":[124],"across":[125],"multi-manipulator":[126],"systems,":[127],"outperforms":[129],"state-of-the-art":[130],"baselines":[131],"tasks.":[137]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
