Goal-Conditioned Neural ODEs with Guaranteed Safety and Stability for Learning-Based All-Pairs Motion Planning

arXiv:2604.02821 · cs.RO, cs.SY, eess.SY · Submitted 2026-04-03 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-04-03

Updated: 2026-09-21

Code: https://github.com/acfr/Goal-Conditioned-Safe-ODE

Terminology

• Gradient Flow — 13× in this paper · explained in 2 episodes
• Lyapunov function — 10× in this paper · explained in 2 episodes
• Loss Function — 6× in this paper · explained in 2 episodes
• Adam — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Australian Centre for Robotics — 1× in this paper
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Normalizing Flow — 1× in this paper · explained in 3 episodes
• Normalizing Flows — 1× in this paper · explained in 4 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• System Identification — 1× in this paper · explained in 3 episodes

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