Terminal Matters: Kinodynamic Planning with a Terminal Cost and Learned Uncertainty in Belief State-Cost Space

Abstract

In many real-world robotic tasks, robots must generate dynamically feasible motions that reliably reach desired goals even under uncertainty. Yet existing sampling-based kinodynamic planners typically optimize accumulated trajectory costs and treat goal reaching as a feasibility check, rather than explicitly optimizing terminal-state quality, such as goal preference or goal-reaching reliability. In this work, we introduce a terminal-cost formulation for kinodynamic planning that allows terminal-state quality to be optimized alongside accumulated trajectory cost. We prove that AO-RRT, an asymptotically optimal kinodynamic planner, preserves its asymptotic optimality under this augmented objective. We further extend the formulation to belief space and prove that minimizing the Wasserstein distance between the terminal belief and the goal improves a lower bound on the probability of reaching the goal region. The resulting planner, KiTe, uses this terminal-cost objective to encode goal preferences and improve reliability under uncertainty. To support systems without analytical uncertainty models, we learn dynamics and process uncertainty directly from data and integrate the learned belief dynamics into planning. Experiments on Flappy Bird, Car Parking, and Planar Pushing show that KiTe consistently improves goal-reaching success under uncertainty. Real-world Planar Pushing experiments further demonstrate that KiTe can plan effectively with learned dynamics and uncertainty. Source code is available at https://github.com/elpis-lab/KiTe.