Belief-Space Planning

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10 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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  1. Belief-Space Planning with Planner-Conditioned Estimator Error under Intermittent Observations

    Oct 6, 2026Peter M. Donley, Joseph L. MooreBelief-Space PlanningRobot State Estimation

    Johns Hopkins University Whiting School of Engineering

  2. Belief-Informed Hybrid Control with Almost-Sure Target-Set Convergence

    Oct 6, 2026Clinton Enwerem, Saleh Kemal, John S. Baras +1Belief-Space PlanningAdaptive Control

    Institute for Systems Research, University of Maryland, College Park, MD, USA

  3. Entropy-Gated Belief Coordination for Decentralized Multi-Agent Search Under Intermittent Communication

    Oct 5, 2026Mohamed Abdelnaby, Kevin LeahyBelief-Space PlanningMulti-Agent Coordination

    Department of Robotics Engineering, Worcester Polytechnic Institute

  4. BLT*: Informed Belief Localization Trees for Uncertainty-Aware Planning on Digital Twins

    Oct 1, 2026Elliot Preston-Krebs, Abhishek Goudar, Timothy D. BarfootBelief-Space PlanningDigital Twins

    University of Toronto Institute for Aerospace Studies (UTIAS), 4925 Dufferin St, Ontario, Canada.

  5. Belief-Aware Multi-Agent Path Finding under Map Uncertainty

    Sep 30, 2026Viraj Parimi, Shao-Hung Chan, Han Zhang +2Belief-Space PlanningMulti-Agent Path Finding

    Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 01239. · Symbotic Inc., Wilmington, MA 01887, USA

  6. Belief-Based Maximum Occupancy Principle and Active Inference

    Sep 30, 2026Manolis Mylonas, Rubén Moreno BoteBelief-Space PlanningIntrinsic Reward Methods

    Center for Brain and Cognition & Department of Engineering Universitat Pompeu Fabra Barcelona, Spain

  7. Beyond the Remembered World: Predictive 4D Belief for Persistent Navigation in Evolving Worlds

    Sep 30, 2026Mingjian Gao, Zhaocheng Li, Haoyang Huang +7Belief-Space PlanningEmbodied Navigation

    Zhejiang University · University of California, San Diego · Deeprobotics +1

  8. AquaMend: Minimal Re-probing and Conditional Rollback for Latent-Belief Failures in Embodied Agents

    Sep 24, 2026Yufan Liu, Shang Luo, Yang Liu +9Belief-Space PlanningAI Agent Reliability

    University College London · Peking University · School of Electrical and Electronic Engineering, Nanyang Technological University +4

  9. Spatial-Semantic Uncertainty in VLM-Based Target Search: Balancing Exploration and Identification

    Sep 17, 2026Alkesh K. Srivastava, Jonathan Diller, Vijay Kumar +1Belief-Space PlanningVision-Language Models

    Temple University, Philadelphia, PA, 19122 USA · University of Pennsylvania, Philadelphia, PA, 19104 USA

  10. Imagine-TAMP: Imagination-Guided Task and Motion Planning in Partial Observability

    Sep 17, 2026Antareep Singha, Shivaram Kumar, Yoonwoo Kim +1Belief-Space PlanningActive Perception

    Nanyang Technological University · The University of Texas at Austin

  11. GAVEL: Graph World Models for Verified and Efficient Long-Horizon LLM Task Planning

    Sep 16, 2026Ruiyang Wang, Hao-Lun Hsu, Swarajh Mehta +3Belief-Space PlanningLarge Language Model-Based Robot Planning

  12. Bridging Learned Visual Perception and Symbolic Belief-Space Planning

    Sep 15, 2026Guy Azran, Michael Navat, Sarah KerenBelief-Space PlanningSymbolic Planning

    Taub Faculty of Computer Science, Technion - Israel Institute of Technology · Faculty of Mathematics, Technion - Israel Institute of Technology

  13. Belief-State Engine: Augmenting LLMs for Principled Planning Under Partial Observability

    Sep 9, 2026Arnab Chattopadhayay, Debdipta HalderBelief-Space PlanningLLM Agents

    Independent Researcher (UCL Alumni), Bangalore, India · Independent Researcher (IIT-Kharagpur Alumni), Bangalore, India

  14. Scalable Rao-Blackwellized Online Planning for High-Dimensional POMDPs

    Sep 1, 2026Jiho Lee, Nisar Ahmed, Kyle Hollins Wray +1Belief-Space PlanningPartially Observable Markov Decision Processes

    Ann And H.J. Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, CO, USA · Manning College of Information and Computer Sciences, University of Massachusetts Amherst, Amherst, MA, USA

  15. Towards a Belief-Based World Model for LLM Agents

    Aug 31, 2026Shubham Kumar, Harshit Kumar, Narendra Ahuja +1Belief-Space PlanningPartially Observable RL

    UIUC · IBM

  16. Capability-Gated Planning: Cost-to-Goal Discovery and the Limits of Myopic Experiment Selection

    Aug 5, 2026Ahmed Hassoon, Mark DredzeBelief-Space PlanningCost-Aware Inference

    Johns Hopkins University

  17. POMDPs for Autonomous Science Exploration

    Aug 4, 2026Daniel Guirguis, Nathan Wallace, Hanna Kurniawati +1Belief-Space PlanningAI for Science

  18. NeSyFS: A Neuro-symbolic Fast-Slow Thinking Framework for LLM Agent under Partial Observability

    Jul 31, 2026Duo Xu, Faramarz FekriBelief-Space PlanningLLM Agents

    Georgia Institute of Technology 225 North Ave NW, Atlanta, GA 30332

  19. Merging Reaction to Cognition: A Hybrid Cognitive Strategy for Odour Source Localisation in Natural Environments

    Jul 15, 2026Hugo Magalhães, Rui Baptista, Lino MarquesBelief-Space PlanningRobot Navigation

    Institute of Systems and Robotics · Department of Electrical and Computer Engineering · University of Coimbra, 3030-290, Coimbra, Portugal

  20. Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments

    Jul 11, 2026Ruochu Yang, Ziyi Xia, Huibo Zhang +6Belief-Space PlanningPartially Observable Markov Decision Processes

    Georgia Institute of Technology, USA · The Hong Kong University of Science and Technology, China · Ising AI, China +2

  21. QANTIS: Hardware-Calibrated Sequential POMDP Belief Updates on IBM Heron

    Jul 7, 2026Bayram Yuksel Eker, Suayb S. Arslan, Ozgur Nazli +2Belief-Space PlanningBayesian Filtering

    Neura Parse Ltd. London, United Kingdom · Dept. of Computer Engineering Boğaziçi University Istanbul, Turkey · Dept. of Physics Izmir University of Economics Izmir, Turkey +2

  22. Finite Reliability Representations: Noise-Calibrated Belief-Space Covers for Reliable Decision-Making

    Jul 4, 2026Hyung-Jin Yoon, Hunmin KimBelief-Space PlanningPartially Observable Markov Decision Processes

  23. Continuous-Time Gaussian Belief Trees for Motion Planning

    Jul 3, 2026Rayan Mazouz, Qi Heng Ho, Zachary N. Sunberg +1Belief-Space PlanningConstrained Motion Planning

    Department of Aerospace Engineering Sciences at the University of Colorado Boulder, CO, USA · Department of Aerospace and Ocean Engineering at Virginia Tech, Blacksburg, VA, USA

  24. Ask the World Before Acting: Environment Probing for Calibrated Agent World Models

    Jun 30, 2026Xinyuan Song, Zekun CaiBelief-Space PlanningWorld Model Learning

    Emory University, Atlanta, GA, USA · The University of Tokyo, Tokyo, Japan · LocationMind, Tokyo, Japan

  25. Hierarchical 3D Scene Graph Construction and Belief-based Planning for Semantic Navigation

    Jun 30, 2026Bing Wu, Zuyao Chen, Changwen ChenBelief-Space PlanningEmbodied Navigation

    The Hong Kong Polytechnic University

  26. ECHO: Learning Epistemically Adaptive Language Agents with Turn-Level Credit

    Jun 29, 2026Abhijnan Nath, Nikhil KrishnaswamyBelief-Space PlanningCredit Assignment in RL

    Situated Grounding and Natural Language (SIGNAL) Lab Department of Computer Science, Colorado State University Fort Collins, CO 80523 USA

  27. PRISM: Efficient and Locally Optimal Probabilistic Planning with Reachability Guarantees

    Jun 24, 2026Alex Rose, Christopher Jewison, Jonathan P. HowBelief-Space PlanningConstrained Motion Planning

    Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge MA 02139 · Draper, Cambridge MA 02139

  28. REBA: A Revealed Belief Automaton Framework for Online Planning in Continuous POMDPs

    Jun 20, 2026Xiangwei Chen, Lingling Fang, Andreas Holzinger +1Belief-Space PlanningPartially Observable Markov Decision Processes

    School of Computer Science and Technology, Dalian University of Technology, Dalian 116024, China · School of Computer Science and Artificial Intelligence, Liaoning Normal University, Dalian 116029, China · Human-Centered AI Lab, Department of Ecosystem Management, Climate and Biodiversity, BOKU University, Vienna, 1190, Austria +1

  29. UNSEEN: Uncertainty-aware Navigation via Sparse Estimation in Unknown Environments

    Jun 18, 2026Tommaso Faraci, Marco Camurri, Daniele Fontanelli +1Belief-Space PlanningSimultaneous Localization and Mapping

    University of Trento, Italy

  30. VOiLA: Vectorized Online Planning with Learned Diffusion Models for POMDP Agents

    Jun 18, 2026Marcus Hoerger, Rishikesh Joshi, Rahul Shome +2Belief-Space PlanningDiffusion-Based Planning

    Australian National University, Canberra, ACT, Australia · The University of Sydney, Sydney, NSW, Australia

  31. Generative-Model Predictive Planning for Navigation in Partially Observable Environments

    Jun 17, 2026Thomas Quilter, Yifan Zhu, Guorui Quan +2Belief-Space PlanningDiffusion-Based Planning

    Department of Computer Science Aalto University Espoo, Finland

  32. PO-PDDL: Learning Symbolic POMDPs from Visual Demonstrations for Robot Planning Under Uncertainty

    Jun 14, 2026Wenjing Tang, Xuanjin Jin, Yuan Liu +3Belief-Space PlanningSymbolic Planning

    Shanghai Jiao Tong University · Shanghai Innovation Institute

  33. Belief-Space Control for Personalized Cancer Treatment via Active Inference

    Jun 9, 2026Deniz Sargun, H. Bugra Tulay, C. Emre KoksalBelief-Space PlanningHealthcare

    Amazon.com Inc. Palo Alto, CA · HP Inc. Denver, CO · The Ohio State University Columbus, OH

  34. Think Fast and Far: Long-Horizon Online POMDP Planning via Rapid State Sampling

    Jun 3, 2026Yuanchu Liang, Edward Kim, J. Arden Knoll +4Belief-Space PlanningPartially Observable Markov Decision Processes

    Australian National University, Canberra ACT 2601, Australia. · Rice University, Houston TX 77005, USA.

  35. PatchWorld: Gradient-Free Optimization of Executable World Models

    May 29, 2026Jiaxin Bai, Yue Guo, Yifei Dong +13Belief-Space PlanningWorld Model Learning

    1Hong Kong Baptist University · 2Independent Researcher · 3HKUST +4

  36. Integrated Exploration-Aware UAV Route Optimization and Path Planning

    May 27, 2026Jimin Choi, Grant Stagg, Cameron K. Peterson +1Belief-Space PlanningTrajectory Optimization

    Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, USA · Department of Electrical Engineering, Brigham Young University, Provo, UT 84602, USA · Department of Aerospace Engineering, Department of Civil and Environmental Engineering, and Department of Industrial and Operations Engineering, University of Michigan, Ann Arbor, MI 48109, USA

  37. Higher Order Reasoning for Collaborative Communicationless Mobile Robot Operations

    May 21, 2026Jonathan Reasoner, Nicola BezzoBelief-Space PlanningMulti-Robot Motion Planning

    Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22904, USA

  38. Ego2World: Compiling Egocentric Cooking Videos into Executable Worlds for Belief-State Planning

    May 13, 2026Qinchuan Cheng, Zhantao Gong, Pengzhan Sun +3Belief-Space PlanningLong-Horizon Agent Evaluation

    Xi’an Jiaotong University · Nankai University · National University of Singapore +1

  39. Multistep Belief Space Dynamics Learning For Risk-Aware Control

    May 12, 2026Jason Gibson, Bogdan Vlahov, Patrick Spieler +1Belief-Space PlanningAutonomous Driving

    Georgia Institute of Technology, Atlanta GA 30313 USA · California Institute of Technology, Pasadena, CA 91125, USA

  40. Ensuring Logic in the Fog: Sound POMDP Synthesis with LTL Objectives

    May 12, 2026Can Zhou, Yulong Gao, Pian YuBelief-Space PlanningReward Shaping

    Imperial College London, United Kingdom · University College London, United Kingdom

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

    May 9, 2026Zhuoyun Zhong, Seyedali Golestaneh, Constantinos ChamzasBelief-Space PlanningTrajectory Optimization

    All authors are affiliated with the Department of Robotics Engineering, Worcester Polytechnic Institute (WPI), Worcester, MA 01609, USA

  42. Multi-Environment POMDPs with Finite-Horizon Objectives

    May 8, 2026Léonard Brice, Filip Cano, Krishnendu Chatterjee +2Belief-Space PlanningMarkov Models

    Institute of Science and Technology Austria

  43. Optimizing Trajectory-Trees in Belief Space: An Application from Model Predictive Control to Task and Motion Planning

    May 3, 2026Camille Phiquepal, Marc ToussaintBelief-Space PlanningModel Predictive Control

    Learning and Intelligent Systems Lab (LIS), TU Berlin, Germany

  44. Distill-Belief: Closed-Loop Inverse Source Localization and Characterization in Physical Fields

    Apr 28, 2026Yiwei Shi, Zixing Song, Mengyue Yang +2Belief-Space PlanningReward Hacking

    SEMT, University of Bristol, Bristol, UK · LUCAS, Loughborough University, Loughborough, UK

  45. Variational Neural Belief Parameterizations for Robust Dexterous Grasping under Multimodal Uncertainty

    Apr 28, 2026Clinton Enwerem, Shreya Kalyanaraman, John S. Baras +1Belief-Space PlanningStochastic Optimization

  46. Dual Control of Linear Systems from Bilinear Observations with Belief Space Model Predictive Control

    Apr 27, 2026Daniel Cao, Beixi Du, Andrew Lowitt +3Belief-Space PlanningModel Predictive Control

    Cornell

  47. Risk-Constrained Belief-Space Optimization for Safe Control under Latent Uncertainty

    Apr 4, 2026Clinton Enwerem, John S. Baras, Calin BeltaBelief-Space PlanningSafety-Critical Control

    Institute for Systems Research, University of Maryland, College Park, MD, USA