SOURCE-LINKED INTELLIGENCE

Anytime Global Tensor Motion Planning

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

Global Tensor Motion Planning (GTMP) solves motion planning with batched tensor operations over a layered multipartite graph. We generalize GTMP so that adjacent-layer edges are realized by any black-box local planner (e.g., linear interpolation, splines, sampling-based planning, trajectory optimization, or generative sampling). We provide two anytime policies on top of this generalization: Anytime GTMP with random restarts at a fixed budget, which covers every homotopy class almost surely, and AO-GTMP with informed expansion with growing budgets, which converges to the optimal cost. We prove

Read original source ↗ Open in workspace

recordType

paper

region

Global