Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations

arXiv:2608.15440 · cs.RO · Submitted 2026-08-15 · Read on arXiv

cs.RO

Submitted: 2026-08-15

Updated: 2026-09-15

Project page: https://neural-gcs.github.io

Terminology

• Embeddings — 8× in this paper · explained in 2 episodes
• Graphs of Convex Sets — 7× in this paper
• Benchmark — 5× in this paper · explained in 2 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Neural Network Approximation — 2× in this paper · explained in 2 episodes
• Shortest Path Problem — 2× in this paper
• Activation Function — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Combinatorial Optimization — 1× in this paper · explained in 2 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Semidefinite Program (SDP) — 1× in this paper · explained in 2 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Transformer Architecture — 1× in this paper · explained in 2 episodes

Sources

• Towards Tight Convex Relaxations for Contact-Rich Manipulation
• How Attentive are Graph Attention Networks?
• A Unified and Scalable Method for Optimization over Graphs of Convex Sets
• Graph Neural Networks for Motion Planning
• Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning
• Multi-Query Shortest-Path Problem in Graphs of Convex Sets
• Implicit Graph Search for Planning on Graphs of Convex Sets
• GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets
• $A^*$ for Graphs of Convex Sets
• Certifiable Factor Graph Optimization

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