# Multi-Objective Trajectory Planning with Dual-Encoder

arXiv: https://arxiv.org/abs/2403.17353 · HTML: https://mlsanity.com/paper/2403.17353/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 17 references that are in the map.
- First posted on arXiv 26 Mar 2024.

## Builds on (most cited first, 3 of 3)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm](https://mlsanity.com/paper/1312.6533/) (2013)

## Abstract (arXiv)

Time-jerk optimal trajectory planning is crucial in advancing robotic arms' performance in dynamic tasks. Traditional methods rely on solving complex nonlinear programming problems, bringing significant delays in generating optimized trajectories. In this paper, we propose a two-stage approach to accelerate time-jerk optimal trajectory planning. Firstly, we introduce a dual-encoder based transformer model to establish a good preliminary trajectory. This trajectory is subsequently refined through sequential quadratic programming to improve its optimality and robustness. Our approach outperforms the state-of-the-art by up to 79.72% in reducing trajectory planning time. Compared with existing methods, our method shrinks the optimality gap with the objective function value decreasing by up to 29.9%.