Online Goal Recognition Using Path Signature and Dynamic Time Warping

Tesch, Douglas; Gavenski, Nathan; Rosa Amado, Leonardo; Rodrigues, Odinaldo; Meneguzzi, Felipe

doi:10.24963/ijcai.2026/690

Online Goal Recognition Using Path Signature and Dynamic Time Warping

Douglas Tesch, Nathan Gavenski, Leonardo Rosa Amado, Odinaldo Rodrigues, Felipe Meneguzzi

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Proceedings of the Thirty-Fifth International Joint Conference on Artificial Intelligence. Main Track. Pages 6199-6207.

https://doi.org/10.24963/ijcai.2026/690

Keywords

Planning and Scheduling: Activity and plan recognition
Planning and Scheduling: Applications

Abstract

Online goal recognition in continuous domains poses two central challenges: efficiently encoding large trajectories and effectively comparing them.

Recent work addresses these challenges by using custom state-space representations and metrics to compare observations against hypotheses.

However, these approaches often overlook well-established encoding techniques used in other domains that offer substantial advantages.

This paper introduces a novel method for online goal recognition that leverages path signatures, a compact, expressive representation of rough path theory that captures key semantic features of trajectories in an efficient way, enabling more meaningful comparisons between them.

Experiments show that our method consistently outperforms the state of the art in predictive accuracy and online planning efficiency, while remaining competitive offline.

Douglas Tesch, Nathan Gavenski, Leonardo Rosa Amado, Odinaldo Rodrigues, and Felipe Meneguzzi. 2026. Online Goal Recognition Using Path Signature and Dynamic Time Warping. In Proceedings of the Thirty-Fifth International Joint Conference on Artificial Intelligence, IJCAI-26. IJCAI, 6199–6207. https://doi.org/10.24963/ijcai.2026/690

@inproceedings{ijcai2026p690,
  title     = {Online Goal Recognition Using Path Signature and Dynamic Time Warping},
  author    = {Tesch, Douglas and Gavenski, Nathan and Rosa Amado, Leonardo and Rodrigues, Odinaldo and Meneguzzi, Felipe},
  booktitle = {Proceedings of the Thirty-Fifth International Joint Conference on
               Artificial Intelligence, {IJCAI-26}},
  publisher = {International Joint Conferences on Artificial Intelligence Organization},
  editor    = {Diego Calvanese},
  pages     = {6199--6207},
  year      = {2026},
  month     = {8},
  note      = {Main Track},
  doi       = {10.24963/ijcai.2026/690},
  url       = {https://doi.org/10.24963/ijcai.2026/690},
}

TY  - CPAPER
TI  - Online Goal Recognition Using Path Signature and Dynamic Time Warping
AU  - Tesch, Douglas
AU  - Gavenski, Nathan
AU  - Rosa Amado, Leonardo
AU  - Rodrigues, Odinaldo
AU  - Meneguzzi, Felipe
T2  - Proceedings of the Thirty-Fifth International Joint Conference on Artificial Intelligence, IJCAI-26
PB  - International Joint Conferences on Artificial Intelligence Organization
PY  - 2026
SP  - 6199
EP  - 6207
DO  - 10.24963/ijcai.2026/690
UR  - https://doi.org/10.24963/ijcai.2026/690
ER  -