# Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning

arXiv: https://arxiv.org/abs/2011.07171 · HTML: https://mlsanity.com/paper/2011.07171/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Nov 2020.

## Built on by (most cited first, 2 of 2)

- [Learning Implicit Priors for Motion Optimization](https://mlsanity.com/paper/2204.05369/) (2022)
- [Toward Generalist Neural Motion Planners for Robotic Manipulators: Challenges and Opportunities](https://mlsanity.com/paper/2603.24318/) (2026)

## Abstract (arXiv)

Among the most prevalent motion planning techniques, sampling and trajectory optimization have emerged successful due to their ability to handle tight constraints and high-dimensional systems, respectively. However, limitations in sampling in higher dimensions and local minima issues in optimization have hindered their ability to excel beyond static scenes in offline settings. Here we consider highly dynamic environments with long horizons that necessitate a fast online solution. We present a unified approach that leverages the complementary strengths of sampling and optimization, and interleaves them both in a manner that is well suited to this challenging problem. With benchmarks in multiple synthetic and realistic simulated environments, we show that our approach performs significantly better on various metrics against baselines that employ either only sampling or only optimization. Project page: https://sites.google.com/view/jistplanner