Learning to Plan Like the Human Brain via Visuospatial Perception and Semantic-Episodic Synergistic Decision-Making
Tianyuan Jia, Ziyu Li, Qing Li, Xiuxing Li, Xiang Li, Chen Wei, Li Yao, Xia Wu
Abstract
Motion planning in high-dimensional continuous spaces remains challenging due to complex environments and computational constraints. Although learning-based planners, especially graph neural network (GNN)-based, have significantly improved planning performance, they still struggle with inaccurate graph construction and limited structural reasoning, constraining search efficiency and path quality. The human brain exhibits efficient planning through a two-stage Perception-Decision model. First, egocentric spatial representations from visual and proprioceptive input are constructed, and then semantic–episodic synergy is leveraged to support decision-making in uncertainty scenarios. Inspired by this process, we propose NeuroMP, a brain-inspired planning framework that learns to plan like the human brain. NeuroMP integrates a Perceptive Segment Selector inspired by visuospatial perception to construct safer graphs, and a Global Alignment Heuristic guide search in weakly connected graphs by modeling semantic-episodic synergistic decision-making. Experimental results demonstrate that NeuroMP significantly outperforms existing planning methods in efficiency and quality while maintaining a high success rate.
BibTeX
@inproceedings{
jia2025learning,
title={Learning to Plan Like the Human Brain via Visuospatial Perception and Semantic-Episodic Synergistic Decision-Making},
author={Tianyuan Jia and Ziyu Li and Qing Li and Xiuxing Li and Xiang Li and Chen Wei and Li Yao and Xia Wu},
booktitle={The Thirty-ninth Annual Conference on Neural Information Processing Systems},
year={2025},
url={https://openreview.net/forum?id=1KXST1ksJ2}
}