{"id":"https://openalex.org/W7150729804","doi":"https://doi.org/10.48550/arxiv.2604.02821","title":"Goal-Conditioned Neural ODEs with Guaranteed Safety and Stability for Learning-Based All-Pairs Motion Planning","display_name":"Goal-Conditioned Neural ODEs with Guaranteed Safety and Stability for Learning-Based All-Pairs Motion Planning","publication_year":2026,"publication_date":"2026-04-03","ids":{"openalex":"https://openalex.org/W7150729804","doi":"https://doi.org/10.48550/arxiv.2604.02821"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.02821","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.02821","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2604.02821","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126305558","display_name":"Dechuan Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Liu, Dechuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133000703","display_name":"Ruigang Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Ruigang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133023751","display_name":"Ian R. Manchester","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Manchester, Ian R.","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5126305558"],"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":0.5407000184059143,"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":0.5407000184059143,"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":0.10890000313520432,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.07490000128746033,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/convergence","display_name":"Convergence (economics)","score":0.638700008392334},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6158000230789185},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.611299991607666},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.597100019454956},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5842999815940857},{"id":"https://openalex.org/keywords/ode","display_name":"Ode","score":0.527899980545044},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5139999985694885},{"id":"https://openalex.org/keywords/ordinary-differential-equation","display_name":"Ordinary differential equation","score":0.48669999837875366},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44940000772476196}],"concepts":[{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.638700008392334},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6158000230789185},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.611299991607666},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.597100019454956},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5842999815940857},{"id":"https://openalex.org/C34862557","wikidata":"https://www.wikidata.org/wiki/Q178985","display_name":"Ode","level":2,"score":0.527899980545044},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5139999985694885},{"id":"https://openalex.org/C51544822","wikidata":"https://www.wikidata.org/wiki/Q465274","display_name":"Ordinary differential equation","level":3,"score":0.48669999837875366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46709999442100525},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44940000772476196},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44130000472068787},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.39329999685287476},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3921999931335449},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.38909998536109924},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3693000078201294},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.357699990272522},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.3571999967098236},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.35659998655319214},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.3431999981403351},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.3294000029563904},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.31949999928474426},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.30399999022483826},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.2985999882221222},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.27070000767707825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.02821","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.02821","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.02821","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.02821","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"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":{"This":[0],"paper":[1],"presents":[2],"a":[3,23,80,102],"learning-based":[4],"approach":[5,78],"for":[6],"all-pairs":[7],"motion":[8],"planning,":[9],"where":[10],"the":[11,43,95,98],"initial":[12],"and":[13,53,71,88],"goal":[14,61],"states":[15],"are":[16,75],"allowed":[17],"to":[18],"be":[19],"arbitrary":[20],"points":[21],"in":[22],"safe":[24],"set.":[25],"We":[26,93],"construct":[27],"smooth":[28],"goal-conditioned":[29],"neural":[30,86],"ordinary":[31],"differential":[32],"equations":[33],"(neural":[34],"ODEs)":[35],"via":[36],"bi-Lipschitz":[37,85],"diffeomorphisms.":[38],"Theoretical":[39],"results":[40],"show":[41],"that":[42],"proposed":[44,99],"model":[45],"can":[46,89],"provide":[47],"guarantees":[48],"of":[49,60,97],"global":[50],"exponential":[51],"stability":[52],"safety":[54],"(safe":[55],"set":[56],"forward":[57],"invariance)":[58],"regardless":[59],"location.":[62],"Moreover,":[63],"explicit":[64],"bounds":[65],"on":[66,101],"convergence":[67],"rate,":[68],"tracking":[69],"error,":[70],"vector":[72],"field":[73],"magnitude":[74],"established.":[76],"Our":[77],"admits":[79],"tractable":[81],"learning":[82],"implementation":[83],"using":[84],"networks":[87],"incorporate":[90],"demonstration":[91],"data.":[92],"illustrate":[94],"effectiveness":[96],"method":[100],"2D":[103],"corridor":[104],"navigation":[105],"task.":[106]},"counts_by_year":[],"updated_date":"2026-04-07T06:06:30.997549","created_date":"2026-04-07T00:00:00"}