Planning

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  1. Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance

    Sep 22, 2026Yuhui Mao, Fen Liu, Shenghai Yuan +3Obstacle Avoidance3D Semantic Occupancy Prediction

  2. In-Context Guidance: Learning Inter-Task Synergies via Numerical Foundational Models for Few-Shot Multitask Optimization

    Sep 22, 2026Tingyang Wei, Haofeng Wu, Jiao Liu +3Trajectory OptimizationMulti-Robot Systems

  3. Neurosymbolic Action Model Learning under Partial Observability

    Sep 22, 2026Adem Kikaj, Lennert De Smet, Giuseppe Marra +1Classical Planning

  4. Fully Byzantine-Resilient Multi-Agent Reinforcement Learning

    Sep 22, 2026Haejoon Lee, Dimitra PanagouMulti-Agent Reinforcement LearningByzantine Attacks

  5. Induced Riemannian Metrics for Motion Planning with Constraints

    Sep 22, 2026Phone Thiha Kyaw, Thomas Cohn, Miguel Angel Rogel Garcia +1Motion Planners

  6. AC-DC: Adaptive Communication for Scalable Dynamic Average Consensus in Multi-Robot Ergodic Search

    Sep 21, 2026Robin Inho Kee, Begum Cannataro, Vasileios TzoumasMulti-Robot Systems

  7. Feasibility Distance Fields for Heterogeneous Constraints in Robot Configuration Space

    Sep 21, 2026Xijing Cui, Huayan Pu, Jun Luo +1Collision-Free TrajectoriesFeasibility

  8. ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation

    Sep 21, 2026Zilong Wang, Yuzhou Chen, Xinyue He +2Motion Planners

  9. MR-SPITE: Accelerating Multi-Robot Conflict Scans via Hierarchical Swept-Volume Approximations

    Sep 20, 2026Marta Markowicz, James Motes, Marco Morales +1Multi-Robot Motion Planning

  10. BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control

    Sep 20, 2026Anandsingh Chauhan, Kunal GargControl Barrier FunctionsModel Predictive Control

  11. Coding Agents with an Obstacle-Aware Harness for Safe Robot Manipulation

    Sep 17, 2026Bingxin Xu, Yuzhang Shang, Zhen Dong +1Generalizable Robotic ManipulationsObstacle Avoidance

  12. SkipVLA: Skipping VLA Steps with Classical Planning for Fast Robot Manipulation

    Sep 17, 2026Kaivalya Agrawal, Md Ashiqur Rahman, Raymond A. Yeh +1Vision-Language-Action ModelsRobot Policies

  13. How Do Agent Harnesses Create Value? Planning Information and Release Control in Stateful LLM Agents

    Sep 17, 2026Yukun Zhang, Kemu Xu, Yishen ChenAgent HarnessLarge Language Model Planning

  14. The Organization of Inference: Information, Resource Constraints, and AI Production

    Sep 17, 2026Yukun Zhang, Kemu Xu, Yishen ChenOnline InferenceArtificial Intelligence Systems

  15. Time-Efficient Iterative Learning Planning for Safety-Critical Dynamic Obstacle Avoidance

    Sep 17, 2026Zhiyi Chen, Shuli Lv, Chen Min +3Obstacle AvoidanceControl Barrier Functions

  16. Resilient Motion Planning for Free-Flying Space Robots under Actuator Failures

    Sep 17, 2026Nicolas de Maddalena, Joris Verhagen, Jana TumovaMotion PlannersRobot Systems

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

    Sep 17, 2026Antareep Singha, Shivaram Kumar, Yoonwoo Kim +1Perception-Action LoopImagination

  18. Co-VLA: Consensus-based Federated Training for Vision-Language-Action Models

    Sep 17, 2026Haolong Li, Guner Dilsad Er, Michael Muehlebach +1Scalable Robot LearningFederated Learning

  19. SlugTrails: An Egocentric Benchmark for Floor Plan Localization in Large Buildings

    Sep 17, 2026Yunqian Cheng, Roberto ManduchiRobust LocalizationSpatial Grounding

  20. Feeling Terrain Before Crossing: World Models for Off-Road Navigation

    Sep 17, 2026E-In Son, Dong-Wook Kim, Ji-Hoon Hwang +4ProprioceptionWorld Models

  21. HEROIC: Heterogeneous Evidential Reasoning for Open-Vocabulary Identification and Cross-Robot Collaboration

    Sep 17, 2026Mihir Chauhan, Aarav Jain, Addison Zucek +3Multi-Robot SystemsAerial Robots

  22. DeliveryGym: An RL Environment for Long-Horizon Embodied Agent Planning with Adaptive Curriculum

    Sep 17, 2026Haoqiang Kang, Yiming Zhang, Yiyang Guo +5Embodied AgentsFootsiesgym

  23. Navigate or Relocate? Planning Among Movable Obstacles in Unknown Environments

    Sep 17, 2026Yuqing Zhang, Haoyu Zhu, Yiannis KantarosRobot PlanningMotion Planners

  24. Winning a Won Game: Strict Reach-Avoid-Stay Control Barrier Functions for High-Dimensional Black-Box Systems

    Sep 16, 2026Donggeon David Oh, Duy P. Nguyen, Gongkai Yuan +3Control Barrier FunctionsObstacle Avoidance

  25. WZPlanner: Safe End-to-End Path Planning for Autonomous Driving in Work Zones

    Sep 16, 2026Nishad Sahu, Changzhong Qian, Guangzhou Cai +3Autonomous DrivingLane Geometry

  26. Feasibility and Singularity in High-Order Safety-Critical Control for Quadrotor UAVs

    Sep 16, 2026Omayra Yago Nieto, Leonardo ColomboControl Barrier FunctionsCollision Avoidance

  27. Kinematics-Grounded Agentic AI for Robotic Additive Manufacturing Process Planning

    Sep 16, 2026Jingzhan Ge, Ruimin Chen, Azadeh Haghighi +2Robot PlanningPlanning Methods

  28. SemSafe-3DGS: Semantic Risk-Aware Active Navigation in Uncertain 3D Gaussian Splatting Maps

    Sep 16, 2026Amirhossein Mollaei Khass, Athanasios Cosse, Nader MoteeViewpoint-Dependent Active PerceptionCollision Avoidance

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

    Sep 16, 2026Ruiyang Wang, Hao-Lun Hsu, Swarajh Mehta +3Large Language Model PlanningLatent World Models

  30. Social Laws for Multi-agent Coordination in Stochastic Environments

    Sep 16, 2026Rolando Fernandez, Caleb Probine, Tyler Lee +5Multi-Agent CoordinationMulti-Agent Systems

  31. CaSCo: Cascade-Aware Soft-Collision Motion Planning

    Sep 16, 2026Shivaram Kumar, Gaoyuan Liu, Yoonchang SungCollision-Free TrajectoriesObstacle Avoidance

  32. PersonaPath: Towards Knowledge-Centric Personalized Learning Path Planning

    Sep 16, 2026Yu Liu, Zeming Liu, Tianle Zhang +6CurriculumPersona

  33. Asymptotically Optimal Multi-Robot Task and Motion Planning

    Sep 16, 2026Thi Thuy Ngan Duong, Cheuk Tung Shadow Yiu, Rahul Shome +1Multi-Robot Motion PlanningMulti-Robot Systems

  34. PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments

    Sep 16, 2026Yuxuan Ma, Zicheng Zeng, Chunlin Peng +17Obstacle AvoidanceHuman Motion Generation

  35. Which LLM is Best for Translating Natural Language Goals to PDDL

    Sep 16, 2026Tomas Balyo, Lukas Chrpa, G. Michael YoungbloodLarge Language Model PlanningNatural Language Queries

  36. Calibrated Probabilistic Obstruction Reasoning with Vision-Language Models for Grasping in Clutter

    Sep 16, 2026Thanh-Tuan Tran, Ngoc-Chien Chu, Thanh Nguyen Canh +3Obstacle AvoidanceMulticalibration and Calibration

  37. M3^3P-R1: Reinforcement Learning for Large Language Model Guided Multi-Modal Motion Planning via MIP Code Generation

    Sep 16, 2026Xingpeng Sun, Zherong Pan, Kai Cheng +3Robot PlanningMixed-Integer Programming

  38. Online Robust Reinforcement Learning Through Monte-Carlo Planning

    Sep 16, 2026Tuan Dam, Kishan Panaganti, Brahim Driss +1Monte Carlo Tree SearchModel-Free Reinforcement Learning

  39. DynoFluxBench: Benchmarking Kinodynamic Space-Time Planners in Dynamic Environments

    Sep 16, 2026Franz Queißner, Andreas Orthey, Wolfgang HönigMotion PlannersTrajectory Optimization

  40. Risk-Aware World Modeling with Flow-Guided Occupancy Evolution for Selective Trajectory Planning in Automated Driving

    Sep 16, 2026Rongxiang Zeng, Linsen Cai, Jiafu Zhang +7Autonomous DrivingTrajectory Prediction

  41. Planning or Improvisation? Stress-Testing the Poetry Planning Site on Open Models and Open Cross-Layer Transcoders

    Sep 16, 2026Éric JacopinPoetryOpen

  42. DetAug: Obstacle-Blind Trajectory Augmentation for Zero-shot Obstacle Avoidance

    Sep 16, 2026Reece O'Mahoney, Moritz Zoellner, Ioannis HavoutisObstacle AvoidanceTrajectory Prediction

  43. Autonomy in Check: Governor-Mediated Adaptive Security at the Edge

    Sep 16, 2026Ijaz Ahmad, Ijaz Ahmad, Flavio Esposito +1SecurityAutonomy

  44. PDA++: Field-Aligned Planning and Scene-Adaptive Insertion in Remote Sensing

    Sep 16, 2026Xianchi Dong, Yingyan Hou, Chao Ren +6Synthetic Data AugmentationRemote Sensing

  45. OmniRisk: Omnidirectional Trajectory-Risk Learning for Agile Quadrotor Dynamic Avoidance

    Sep 16, 2026Yifan He, Yang Liu, Wenhao Zhao +8Quadrotor FlightObstacle Avoidance

  46. Approximating High Dimensional Self-Motion Manifolds via Deep Generative Models

    Sep 16, 2026Haitao Gao, Yang Song, Liao WuRobotic ArmsMotion Planners

  47. An Efficient Algorithm for Minimum-Pressure Growth Planning of Vine Robots

    Sep 16, 2026Andres C. Torres, Tobia Marcucci, Elliot W. HawkesObstacle AvoidanceAgricultural Robots

  48. The Free Inference Dimension: Complexity Measure for Zero-Collision Navigation under Hypothesis Mixtures

    Sep 15, 2026Luiz Carlos Castro Guedes, Edward Hermann HaeuslerCollision-Free TrajectoriesModel-Free Reinforcement Learning

  49. SPROUT: The Open-Source Soft Growing Robot for Search and Rescue

    Sep 15, 2026Antonio Alvarez Valdivia, Ciera McFarland, Robert Reeve +5Soft RobotsRescue

  50. HINT-Plan: Human Intention-Aware Robot Task Planning in Context-Rich Environments using Vision Language Models

    Sep 15, 2026Yuchen Liu, Luigi Palmieri, Lujun Li +3Executable Robot BehaviorRobot Planning

  51. Learning-Guided Planning in Large Dynamic Action Spaces: Budgeted Tree Search for One-to-Many Mobile Charging

    Sep 15, 2026Liang-Ching Tao, Pi-Chung WangClassical PlanningPlanning Methods

  52. Exact Fusion and Coordinated Exploration in Multi-Robot Active Inference

    Sep 15, 2026Peng Wu, Mohsen Imani, Amidu Kamara +3Multi-Robot SystemsEfficient Exploration

  53. Escape-Aware Control Barrier Functions for Quadrotor Safety under Body-Rate Limits

    Sep 15, 2026Lei Shi, Haosong Wen, Qichao LiuQuadrotor FlightControl Barrier Functions

  54. CAD-Based Relation Learning and Geometric-Symbolic Planning for Robotic Assembly

    Sep 15, 2026Fabian Harlacher, Christian FriedrichRobot PlanningComputer-Aided Design

  55. Interactive Memory Learning for Long-Term Conversations

    Sep 15, 2026Cai Ke, Jiangyue Yan, Han Zhang +5Agent MemoryMultilingual Agents

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

    Sep 15, 2026Guy Azran, Michael Navat, Sarah KerenBelief SpacePerception-Action Loop

  57. Motion planning in high dimensional spaces hybridizing RRT and HAR via position-direction decoupling

    Sep 15, 2026Frederic Cazals, Nelson FeyeuxMulti-Robot Motion PlanningRobot Systems

  58. CorrRisk-WM: Corridor-Conditioned Risk World Modeling for Safety-Critical Trajectory Planning

    Sep 15, 2026Tingyu Guo, Reza LangariTrajectory PredictionWorld Models

  59. Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets

    Sep 14, 2026Mohitvishnu S. Gadde, Ashish Malik, Pranay Dugar +2Long-Tail Humanoid Whole-Body ControlCollision-Free Trajectories

  60. Corrupt Plans, Clean Traces: Evading Chain-of-Thought Monitoring with Plan Injection

    Sep 14, 2026Keertana Chidambaram, Andrew Ilyas, Vasilis SyrgkanisAdversariesElicitation