{"id":"https://openalex.org/W7148572267","doi":"https://doi.org/10.48550/arxiv.2604.00401","title":"Sampling-based Task and Kinodynamic Motion Planning under Semantic Uncertainty","display_name":"Sampling-based Task and Kinodynamic Motion Planning under Semantic Uncertainty","publication_year":2026,"publication_date":"2026-04-01","ids":{"openalex":"https://openalex.org/W7148572267","doi":"https://doi.org/10.48550/arxiv.2604.00401"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.00401","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.00401","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.00401","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132809418","display_name":"Qi Heng Ho","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ho, Qi Heng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054686855","display_name":"Zachary N. Sunberg","orcid":"https://orcid.org/0000-0001-9707-3035"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sunberg, Zachary N.","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132805112","display_name":"Morteza Lahijanian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lahijanian, Morteza","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5132809418"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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":0.664900004863739,"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":0.664900004863739,"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":0.09160000085830688,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.0494999997317791,"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/soundness","display_name":"Soundness","score":0.7318999767303467},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6840000152587891},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.6302000284194946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5501000285148621},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.5221999883651733},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5037999749183655},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.49059998989105225},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.4839000105857849}],"concepts":[{"id":"https://openalex.org/C39920170","wikidata":"https://www.wikidata.org/wiki/Q693083","display_name":"Soundness","level":2,"score":0.7318999767303467},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6840000152587891},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.6302000284194946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5501000285148621},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.5221999883651733},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5037999749183655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49970000982284546},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.49059998989105225},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.4839000105857849},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4553000032901764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44339999556541443},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43869999051094055},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4348999857902527},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4244000017642975},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.3774000108242035},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.36090001463890076},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3495999872684479},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34779998660087585},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.31869998574256897},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.31769999861717224},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.2825999855995178},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25769999623298645},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2540999948978424},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.00401","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.00401","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":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.00401","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.00401","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5468522310256958,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"tackles":[2],"the":[3,40,44,48,53,67,75,88,91,96,107,113,117],"problem":[4,54],"of":[5,47,87,90,98,112,119],"integrated":[6],"task":[7],"and":[8,72,94,101,109,125],"kinodynamic":[9],"motion":[10,103],"planning":[11],"in":[12,34,43,74,122],"uncertain":[13,123],"environments.":[14],"We":[15,50,79,105],"consider":[16],"a":[17,24,35,59],"robot":[18,68],"with":[19,23],"nonlinear":[20],"dynamics":[21],"tasked":[22],"Linear":[25],"Temporal":[26],"Logic":[27],"over":[28],"finite":[29],"traces":[30],"($\\ltlf$)":[31],"specification":[32],"operating":[33],"partially":[36],"observable":[37],"environment.":[38,49],"Specifically,":[39],"uncertainty":[41,73],"is":[42],"semantic":[45],"labels":[46],"show":[51,116],"how":[52],"can":[55],"be":[56],"modeled":[57],"as":[58],"Partially":[60],"Observable":[61],"Stochastic":[62],"Hybrid":[63],"System":[64],"that":[65,84,126],"captures":[66],"dynamics,":[69],"$\\ltlf$":[70],"task,":[71],"environment":[76],"state":[77],"variables.":[78],"propose":[80],"an":[81],"anytime":[82],"algorithm":[83,121],"takes":[85],"advantage":[86],"structure":[89],"hybrid":[92],"system,":[93],"combines":[95],"effectiveness":[97],"decision-making":[99],"techniques":[100],"sampling-based":[102],"planning.":[104],"prove":[106],"soundness":[108],"asymptotic":[110],"optimality":[111],"algorithm.":[114],"Results":[115],"efficacy":[118],"our":[120],"environments,":[124],"it":[127],"consistently":[128],"outperforms":[129],"baseline":[130],"methods.":[131]},"counts_by_year":[],"updated_date":"2026-04-03T16:44:17.987007","created_date":"2026-04-03T00:00:00"}