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Anticipatory Robot Goalkeeping via Monotone Optimal Stopping

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Robots engaged in fast physical interactions often need to act before the intent of another agent is fully known. Anticipatory goalkeeping illustrates this challenge. Waiting provides more reliable information about the target but reduces the physical opportunity for interception, whereas acting early preserves reachability but requires initiating motion under uncertainty. Given a fixed closed-loop save controller, we formulate the decision of when to initiate motion as a policy-conditional finite-horizon optimal stopping problem. Building on this formulation, we propose monotone optimal stopp

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