Natural-language robot motion planner

An apparatus, comprising:

• a memory, configured to store:
• first multidimensional pose data, representing an initial pose of a robot;
• second multidimensional pose data, representing a target pose of the robot;
• and
• a linguistic descriptor of a desired motion of a robot;
• a plurality of kinodynamic hypotheses for a movement of the robot;
• a processor, configured to:
• select a kinodynamic hypothesis of the plurality of kinodynamic hypotheses based on the first multidimensional pose data, the second multidimensional pose data, and the linguistic descriptor.