Learning-Based Motion Planning for Dynamic Environments: From Foundational Algorithms to Emerging Paradigms

Motion planning in dynamic environments is a fundamental problem in robotics, aiming to generate safe and efficient paths, trajectories, or control actions in the presence of moving obstacles, uncertain predictions, and multi-agent interactions. It has broad applications in autonomous driving, service robotics, warehouse logistics, human-robot collaboration, crowd navigation, and multi-robot systems. This survey reviews representative works published primarily between 2015 and 2025, with a particular focus on how recent learning-based advances extend, complement, or interact with classical planning foundations. We first revisit classical planning methods as algorithmic foundations and reference frameworks for learning-based extensions. We then propose a role-of-learning taxonomy that categorizes existing methods according to how learning participates in the planning pipeline, including direct policy learning, learning-augmented classical planning, hybrid planning, and training enhancement methods. For each category, we summarize the main problem settings, representative algorithms, key ideas, integration mechanisms, strengths, and limitations. We further analyze how observation representations, prediction uncertainty, interaction modeling, planner integration, safety constraints, and training strategies shape learning-based motion planning in dynamic environments. Finally, we discuss open challenges and future directions, including sim-to-real gap, safe and certifiable planning, dense crowd navigation, perception-planning coupling, and embodied AI.

Coverage Path Planning: Classical Foundations, Recent Advances, and Future Directions

Coverage path planning (CPP) is a fundamental problem in robot motion planning, whose aim is to produce robot trajectories that provide complete coverage of target workspaces while minimizing task-specific objectives such as path length, overlap, number of turns, and energy consumption. CPP has widespread applications in cleaning, inspection, mapping, agriculture, manufacturing, surveillance, demining, and environmental monitoring. Although classical CPP has been extensively studied, recent advances have extended CPP beyond single-robot settings to multi-robot systems, complex 3D environments, constrained platforms, learning-based coverage planning, and visual coverage tasks. This paper presents a comprehensive survey of 125 representative works published primarily between 2015 and 2026, while presenting the evolution of recent developments in light of the classical CPP methods published before 2015. The CPP methods are organized into six main categories: single-robot CPP, multi-robot CPP, 3D CPP, constrained CPP, learning-based CPP, and visual CPP. For each category, the review summarizes the main planning formulations, representative algorithms, strengths, and limitations. In addition, the review analyzes how environmental knowledge, workspace geometry, robot constraints, sensing objectives, and coordination requirements shape the CPP problem. The survey further discusses open challenges in scalable online planning, multi-robot coordination, 3D and visual coverage, unified platform-constrained and resource-aware coverage, and learning-enhanced coverage. Thus, the survey provides a structured overview of recent CPP developments and future research directions.

Facial beauty prediction fusing transfer learning and broad learning system

Facial beauty prediction (FBP) is an important and challenging problem in the fields of computer vision and machine learning. Not only it is easily prone to overfitting due to the lack of large-scale and effective data, but also difficult to quickly build robust and effective facial beauty evaluation models because of the variability of facial appearance and the complexity of human perception. Transfer Learning can be able to reduce the dependence on large amounts of data as well as avoid overfitting problems. Broad learning system (BLS) can be capable of quickly completing models building and training. For this purpose, Transfer Learning was fused with BLS for FBP in this paper. Firstly, a feature extractor is constructed by way of CNNs models based on transfer learning for facial feature extraction, in which EfficientNets are used in this paper, and the fused features of facial beauty extracted are transferred to BLS for FBP, called E-BLS. Secondly, on the basis of E-BLS, a connection layer is designed to connect the feature extractor and BLS, called ER-BLS. Finally, experimental results show that, compared with the previous BLS and CNNs methods existed, the accuracy of FBP was improved by E-BLS and ER-BLS, demonstrating the effectiveness and superiority of the method presented, which can also be widely used in pattern recognition, object detection and image classification.

Consistency-Regularized GAN for Few-Shot SAR Target Recognition

Few-shot recognition in synthetic aperture radar (SAR) imagery remains a critical bottleneck for real-world applications due to extreme data scarcity. A promising strategy involves synthesizing a large dataset with a generative adversarial network (GAN), pre-training a model via self-supervised learning (SSL), and then fine-tuning on the few labeled samples. However, this approach faces a fundamental paradox: conventional GANs themselves require abundant data for stable training, contradicting the premise of few-shot learning. To resolve this, we propose the consistency-regularized generative adversarial network (Cr-GAN), a novel framework designed to synthesize diverse, high-fidelity samples even when trained under these severe data limitations. Cr-GAN introduces a dual-branch discriminator that decouples adversarial training from representation learning. This architecture enables a channel-wise feature interpolation strategy to create novel latent features, complemented by a dual-domain cycle consistency mechanism that ensures semantic integrity. Our Cr-GAN framework is adaptable to various GAN architectures, and its synthesized data effectively boosts multiple SSL algorithms. Extensive experiments on the MSTAR and SRSDD datasets validate our approach, with Cr-GAN achieving a highly competitive accuracy of 71.21% and 51.64%, respectively, in the 8-shot setting, significantly outperforming leading baselines, while requiring only ~5 of the parameters of state-of-the-art diffusion models. Code is available at: https://github.com/yikuizhai/Cr-GAN.

Multimodal Feature Fusion Network with Text Difference Enhancement for Remote Sensing Change Detection

Although deep learning has advanced remote sensing change detection (RSCD), most methods rely solely on image modality, limiting feature representation, change pattern modeling, and generalization especially under illumination and noise disturbances. To address this, we propose MMChange, a multimodal RSCD method that combines image and text modalities to enhance accuracy and robustness. An Image Feature Refinement (IFR) module is introduced to highlight key regions and suppress environmental noise. To overcome the semantic limitations of image features, we employ a vision language model (VLM) to generate semantic descriptions of bitemporal images. A Textual Difference Enhancement (TDE) module then captures fine grained semantic shifts, guiding the model toward meaningful changes. To bridge the heterogeneity between modalities, we design an Image Text Feature Fusion (ITFF) module that enables deep cross modal integration. Extensive experiments on LEVIRCD, WHUCD, and SYSUCD demonstrate that MMChange consistently surpasses state of the art methods across multiple metrics, validating its effectiveness for multimodal RSCD. Code is available at: https://github.com/yikuizhai/MMChange.

Weakly Contrastive Learning via Batch Instance Discrimination and Feature Clustering for Small Sample SAR ATR

In recent years, impressive performance of deep learning technology has been recognized in Synthetic Aperture Radar (SAR) Automatic Target Recognition (ATR). Since a large amount of annotated data is required in this technique, it poses a trenchant challenge to the issue of obtaining a high recognition rate through less labeled data. To overcome this problem, inspired by the contrastive learning, we proposed a novel framework named Batch Instance Discrimination and Feature Clustering (BIDFC). In this framework, different from that of the objective of general contrastive learning methods, embedding distance between samples should be moderate because of the high similarity between samples in the SAR images. Consequently, our flexible framework is equipped with adjustable distance between embedding, which we term as weakly contrastive learning. Technically, instance labels are assigned to the unlabeled data in per batch and random augmentation and training are performed few times on these augmented data. Meanwhile, a novel Dynamic-Weighted Variance loss (DWV loss) function is also posed to cluster the embedding of enhanced versions for each sample. Experimental results on the moving and stationary target acquisition and recognition (MSTAR) database indicate a 91.25% classification accuracy of our method fine-tuned on only 3.13% training data. Even though a linear evaluation is performed on the same training data, the accuracy can still reach 90.13%. We also verified the effectiveness of BIDFC in OpenSarShip database, indicating that our method can be generalized to other datasets. Our code is avaliable at: https://github.com/Wenlve-Zhou/BIDFC-master.