OPENTECHNICAL PUBLICATION
OT-2026-000003056

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

Published: 2026-09-15T19:17:02.364500Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003056
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000003056
Published 2026-09-15T19:17:02.364500Z
https://opentechnical.org/p/OT-2026-000003056