---
publication_id: "OT-2026-000003056"
title: "Method for vision-based robot motion planning using object-centric latent states"
published_at: "2026-09-15T19:17:02.364500Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000003056"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1664"
  - "b25j9/1664"
  - "b25j9/16"
  - "b25j9/16"
  - "b25j9/161"
  - "b25j9/161"
---

# Method for vision-based robot motion planning using object-centric latent states

## Abstract

Various aspects relate to a method (200) for robot motion planning, the method including: receiving (202) an image sequence which ends at a point in time and shows objects in a surrounding of a robot (101) during a prior control of the robot; inputting (204) the image sequence into an encoder to predict a current latent state which represents a respective latent object state for each object of the objects at the point in time; generating (206), using a rapidly exploring random tree, RRT, approach, a latent state graph starting from the current latent state, wherein each predicted latent state of the latent state graph represents a respective predicted latent object state for each object of the objects; determining (208), by applying a policy for solving a Markow Decision Process on the latent state graph, a control trajectory for controlling the robot to achieve a goal state.