Robust Trajectory

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17 papers in the last four weeks, up 143% on the four weeks before. 0.2% of all new papers.

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Latest papers 145

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Neural Backward Reach-Avoid Tubes with MPC Supervision for High-Dimensional Systems: An Application to Safe Spacecraft Docking
May 3, 2026Santiago Thorup, Luca Castelletto, Zeyuan Feng +1Hamilton-Jacobi Reachability Model Predictive Control
Department of Aeronautics and Astronautics at Stanford University, USA
Optimizing Trajectory-Trees in Belief Space: An Application from Model Predictive Control to Task and Motion Planning
May 3, 2026Camille Phiquepal, Marc ToussaintModel Predictive Control Robust Trajectory
Learning and Intelligent Systems Lab (LIS), TU Berlin, Germany
Global Sampling-Based Trajectory Optimization for Contact-Rich Manipulation via KernelSOS
Apr 29, 2026Zhongqi Wei, Frederike DümbgenContact-Rich Manipulation Robust Trajectory
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA · Inria, Département d’informatique de l’ENS, CNRS, PSL Research University, Paris, France
Reference-Augmented Learning for Precise Tracking Policy of Tendon-Driven Continuum Robots
Apr 28, 2026Ziqing Zou, Ke Qiu, Haojian Lu +2Robust Trajectory
Department of Control Science and Engineering, Zhejiang University, Hangzhou, China
Gradient-Direction Sensitivity Reveals Linear-Centroid Coupling Hidden by Optimizer Trajectories
Apr 28, 2026Yongzhong XuAdam Singular Value Decomposition
Sliding Mode Control for Safe Trajectory Tracking with Moving Obstacles Avoidance: Experimental Validation on Planar Robots
Apr 27, 2026Shubham Sawarkar, P Sangeerth, S Saharsh +1Obstacle Avoidance Robust Trajectory
Centre for Cyber-Physical Systems and Department of Aerospace Engineering, Indian Institute of Science, Bengaluru, India. · Department of Aerospace Engineering, Indian Institute of Science, Bengaluru, India.
Trajectory Planning for an Articulated Commercial Vehicle using Model Predictive Contouring Control
Apr 27, 2026A. J. Aertssen, R. G. M. Huisman, I. J. M. Besselink +2Model Predictive Control Robust Trajectory
Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands. · Safety & Driver Controls Group, Vehicle Development, DAF Trucks N.V., Eindhoven, The Netherlands.
Rethinking Trust Region Bayesian Optimization in High Dimensions
Apr 24, 2026Wei-Ting Tang, Joel A. PaulsonMulti-Objective Bayesian Optimization Algorithms Trust Region
University of Wisconsin–Madison
ATRS: Adaptive Trajectory Re-splitting via a Shared Neural Policy for Parallel Optimization
Apr 24, 2026Jiajun Yu, Guodong Liu, Li Wang +6Robust Trajectory Alternating Direction Method Of Multiplier
Tempered Sequential Monte Carlo for Trajectory and Policy Optimization with Differentiable Dynamics
Apr 23, 2026Heng YangMonte Carlo Robust Trajectory
Harvard University
Accelerating trajectory optimization with Sobolev-trained diffusion policies
Apr 21, 2026Théotime Le Hellard, Franki Nguimatsia Tiofack, Quentin Le Lidec +1Robust Trajectory Diffusion Policies
Inria - Département d’Informatique de l’École normale supérieure, PSL Research University, France · Courant Institute, New York University, USA
Intent-aligned Autonomous Spacecraft Guidance via Reasoning Models
Apr 19, 2026Yuji Takubo, Simone D'AmicoIntent-Aligned Autonomous Spacecraft Guidance Robust Trajectory
Stanford University · Lomita Mall, Stanford, CA, 94305 · Stanford University 496 Lomita Mall, Stanford, CA, 94305
Diffusion-Based Optimization for Accelerated Convergence of Redundant Dual-Arm Minimum Time Problems
Apr 17, 2026Jushan Chen, Jonathan Fried, Santiago PaternainRobust Trajectory Multi-Robot Motion Planning
Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, 110 8th St, Troy, NY 12180, USA
Momentum-constrained Hybrid Heuristic Trajectory Optimization Framework with Residual-enhanced DRL for Visually Impaired Scenarios
Apr 16, 2026Yuting Zeng, Zhiwen Zheng, Jingya Wang +6Robust Trajectory
School of Information and Software Engineering, University of Electronic Science and Technology of China, Chengdu 610054, Sichuan, P.R. China · Sichuan Provincial Key Laboratory for Human Disease Gene Study, Sichuan Academy of Medical Sciences & Sichuan Provincial People’s Hospital, University of Electronic Science and Technology of China, Chengdu, Sichuan, China. · Research Unit for Blindness Prevention, Chinese Academy of Medical Sciences, Sichuan Academy of Medical Sciences and Sichuan Provincial People’s Hospital, Chengdu, Sichuan, China.
VISTA: Validation-Informed Trajectory Adaptation via Self-Distillation
Apr 13, 2026Eli Corn, Daphna WeinshallParameter-Efficient Adaptation Robust Trajectory
Department of Computer Science, Hebrew University of Jerusalem, Jerusalem, Israel.
ADMM-based Continuous Trajectory Optimization in Graphs of Convex Sets
Mar 11, 2026Lukas Pries, Jon Arrizabalaga, Zachary Manchester +1Robust Trajectory Alternating Direction Method Of Multiplier
Autonomous Aerial Systems Lab, Dep. of Aerospace and Geodesy, TU Munich, Germany · Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, USA
Expert Knowledge-driven Reinforcement Learning for Autonomous Racing via Trajectory Guidance and Dynamics Constraints
Mar 6, 2026Bo Leng, Weiqi Zhang, Zhuoren Li +4Autonomous Racing Autonomous Driving
College of Automotive and Energy Engineering, Tongji University, Shanghai, 201804, China · School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, 639798, Singapore
R $^2$ PO: Decoupling Rollout and Inference Policies for LLM Reasoning
Jan 17, 2026Jingchu Wang, Bingbing Xu, Yige Yuan +4LLM Reasoning Strategies Frictive Policy Optimization
State Key Laboratory of AI Safety, Institute of Computing Technology, CAS · University of Chinese Academy of Sciences · National University of Singapore
Robust and Efficient MuJoCo-based Model Predictive Control via Web of Affine Spaces Derivatives
Dec 24, 2025Chen Liang, Daniel RakitaModel Predictive Control Mujoco
Department of Computer Science, Yale University, New Haven, CT 06520, USA
A Convex Obstacle Avoidance Formulation
Dec 15, 2025Ricardo Tapia, Iman SoltaniObstacle Avoidance Model Predictive Control
Laboratory for AI, Robotics and Automation, University of California at Davis, Davis, CA 95616 USA
Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization
Oct 10, 2025Simon Idoko, Prajyot Jadhav, Arun Kumar SinghMulti-Robot Motion Planning Robust Trajectory
All authors are with the University of Tartu, Estonia.
First Plan Then Evaluate: Multi-Target Planning with Post-Planning Success Evaluation Improves Learning-Based Grasping Pipelines
Sep 8, 2025Martin Matak, Mohanraj Devendran Shanthi, Karl Van Wyk +1Robotic Grasping Classical Planning
Kahlert School of Computing and the Robotics Center, University of Utah. · NVIDIA, USA.
NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning
Jul 18, 2025Qingyi Chen, Zachary Kingston, Ahmed H. QureshiRobot Planning Hamilton-Jacobi Reachability
Department of Computer Science at Purdue University, West Lafayette, IN, USA
Fading Expert Guidance: Bridging Model-Based and Learning-Based Control for Abortable Autonomous Overtaking
Aug 18, 2023Jinxiong Lu, Gokhan Alcan, Ville KyrkiReinforcement Learning Control Robust Trajectory
Intelligent Robotics Group, Department of Electrical Engineering and Automation, Aalto University, 02150 Espoo, Finland
AD-MPCC: Adaptive Differentiable Model Predictive Contouring Control for Autonomous Racing
Date pendingNam T. Nguyen, Binh Nguyen, Ahmad Amine +3Autonomous Racing Model Predictive Control
Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL 32816, USA. · Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104, USA. · CTI Lab4EV, School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi 100000, Vietnam.

May 3, 2026, cs.ROJ/K move · Enter open · S save

Neural Backward Reach-Avoid Tubes with MPC Supervision for High-Dimensional Systems: An Application to Safe Spacecraft Docking

Santiago Thorup, Luca Castelletto, Zeyuan Feng, Somil Bansal

Department of Aeronautics and Astronautics at Stanford University, USA

Hamilton-Jacobi Reachability Model Predictive Control Robust Trajectory Spatiotemporal Tube Spacecraft Reachability+2

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Autonomous spacecraft docking requires control policies that simultaneously ensure collision avoidance and target reachability under coupled, high-dimensional translational-rotational dynamics. Hamilton-Jacobi (HJ) reachability provides formal reach-avoid guarantees, but classical solvers are limited to low-dimensional systems. Learning-based approaches have begun to scale HJ analysis, yet they struggle in reach-avoid settings, especially where goal and failure sets are tightly coupled, as in docking. We propose a learning-based Backward Reach-Avoid Tube (BRAT) framework that addresses this challenge by tightly integrating HJ structure with MPC-based supervision. In the offline phase, we train a neural approximation of the HJ value function using PDE-based losses augmented with curriculum-driven MPC supervision, which provides informative value targets and stabilizes training in regions where purely PDE-based methods fail. In the online phase, the learned value function is deployed through two real-time controllers: (i) a value gradient-driven controller, and (ii) a value-function-augmented terminal MPC that explicitly enforces reachability at the horizon. We evaluate the proposed method on a 6D planar docking problem against grid-based ground truth and then scale to the full 13D system. Across both settings, our approach outperforms existing methods in success rate and computational efficiency.

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