Planning

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Period ending 2026-09-21

63 new papers

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  1. RSC: Decentralized Rigid Formation Flocking for Large-Scale Swarms via Hybrid Predictive Control and Online Reconfiguration

    Jun 2, 2026Ganyu Zou, Linhan Wang, Chen Dai +2Unmanned Aerial Vehicle SwarmsSwarms

  2. PerceptTwin: Semantic Scene Reconstruction for Iterative LLM Planning and Verification

    Jun 2, 2026Charlie Gauthier, Sacha Morin, Liam PaullPerception-Action LoopLarge Language Model Planning

  3. Distribution-Free Risk-Aware Planning and Control Under Uncertainty Using Conformal Spectral Risk Control

    Jun 2, 2026Junsik Eom, Tulga ErsalModel Predictive ControlConformal Risk Control

  4. Multi-Agent Next-Best-View Optimization for Risk-Averse Planning

    Jun 2, 2026Amirhossein Mollaei Khass, Vivek Pandey, Guangyi Liu +3Coverage Path PlanningMulti-Agent Systems

  5. Multi-Robot Bearing-only Pose Estimation via Angle Rigidity

    Jun 2, 2026J. Francisco Presenza, Leonardo J. Colombo, Ignacio Mas +1Multi-Robot SystemsState Estimation

  6. Neural Navigation Functions for Zero-Shot Generalizable Motion Planning

    Jun 2, 2026Benjamin D. Shaffer, Pei-An Hsieh, Brooks Kinch +2Motion PlannersAutonomous Navigation

  7. When to Re-Plan: Subgoal Persistence in Hierarchical Latent Reasoning

    Jun 2, 2026Ayushi ChadhaContext-Aware Sub-Goal GenerationEfficient Latent Reasoning

  8. On dynamic multi-agent pathfinding methods: review, simulations and modifications

    Jun 2, 2026Gabriel Fejziaj, Salama Hassona, Wieslaw MarszalekMulti-Agent Path FindingShortest Paths

  9. A Close Look At World Model Recovery In Supervised Fine-Tuned LLM Planners

    Jun 2, 2026Patrick Emami, Nan Qiang, Peter GrafLarge Language Model PlanningLatent World Models

  10. SPADE: Sketch-guided Path Planning Augmented with Diffusion Experts

    Jun 2, 2026Charbel Abi Hana, Tatiana Ghantous, Mikael Khalil +1Robot PlanningCoverage Path Planning

  11. Short-Term Synaptic Plasticity Stabilizes Goal-Conditioned Dynamics in a PFC-Inspired Reservoir Model for Multistep Goal-Directed Action Planning

    Jun 2, 2026Jin Nakamura, Yuichi KatoriSynaptic PlasticityHuman Visual Cortex

  12. Reliability-Guided Depth Fusion for Glare-Resilient Navigation Costmaps

    Jun 2, 2026Shang-En TsaiDepth Estimation3D Mapping

  13. Bridging Predictive Uncertainty and Safe Action: Sample-Conditioned Differentiable Planning for Autonomous Driving

    Jun 2, 2026Chengzhen Meng, Pei Liu, Zhiyu Huang +2Diffusion PlanningAutonomous Driving

  14. Dive into the Scene: Breaking the Perceptual Bottleneck in Vision-Language Decision Making via Focus Plan Generation

    Jun 2, 2026Boyuan Xiao, Bohong Chen, Yumeng Li +3Vision-Language-Action ModelsVision-Language

  15. Libra: Efficient Resource Management for Agentic RL Post-Training

    Jun 2, 2026Kaiwen Chen, Xin Tan, Jingzong Li +6Agentic Reinforcement-Learning FrameworkReinforcement Learning Post-Training

  16. A Locally Deployed RAG-Based Academic Advising System for Course Selection

    Jun 2, 2026Feng Li, Yoritaka IwataAcademic IntegrityPrivacy-Preserving Framework

  17. An Exploration of Collision-based Enemy Morphology Generation

    Jun 1, 2026Johor Jara Gonzalez, Matthew GuzdialMotion GenerationCollision Prediction

  18. Plan2Map: A Multimodal Benchmark for Document-Grounded Geospatial Boundary Reconstruction from Planning Records

    Jun 1, 2026Fabian Degen, Oishi Deb, Jindong Gu +4GeospatialGeoquery

  19. SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos

    Jun 1, 2026Jaehyeon Son, Junhyun Kim, Kyle Kam +7Pretrained Vision-Language-ActionVision-Language-Action Models

  20. LLM-Evolved Pattern Generators for Optimal Classical Planning

    Jun 1, 2026Windy Phung, Dominik Drexler, Arnaud Lequen +1HeuristicsClassical Planning

  21. Coordination Graphs for Constrained Multi-Agent Reinforcement Learning

    Jun 1, 2026Santiago Amaya-Corredor, Miguel Calvo-Fullana, Anders JonssonMulti-Agent Reinforcement LearningConstrained Reinforcement Learning

  22. A Kinetic Theory of Encounter-Based Information Propagation in Multi-Robot Systems

    Jun 1, 2026Alkesh K. Srivastava, Philip DamesMulti-Robot SystemsTheoretical Foundations

  23. Motion Planning in Dynamic Environments: A Survey from Classical to Modern Methods

    Jun 1, 2026Zongyuan Shen, Yaming Ou, Shalabh Gupta +6Motion PlannersPlanning Methods

  24. From Capability Models to Automated Planning: An AAS-Native Approach for Automatic PDDL Generation

    Jun 1, 2026Hamied Nabizada, Thomas Wirt, Luis Miguel Vieira da Silva +2IndustrialPlanning Methods

  25. S3TS: Stochastic Scenario-Structured Tree Search for Advanced Planning Under Uncertainty

    Jun 1, 2026Fabio Pavirani, Bert Claessens, Pierre Pinson +1Demand ResponsePower Systems

  26. Network Distributed Multi-Agent Reinforcement Learning for Consensus Control of Quadcopters

    Jun 1, 2026Youssef Mahran, Zeyad Gamal, Aamir Ahmad +1Multi-Agent Reinforcement LearningQuadrotor Control

  27. Scaling Agentic Capabilities via Grounded Interaction Synthesis

    Jun 1, 2026Wenhang Shi, Jinhao Dong, Yiren Chen +4Agentic SystemsAgentic Tool Use

  28. Unified Driving Tokens: Representation- and Geometry-Guided Discrete Tokenizer for Driving World Models and Planning

    Jun 1, 2026Ziyang Yao, Zeyu Zhu, YunCheng Jiang +2Autonomous DrivingVisual Tokens

  29. Token Predictors Are Not Planners: Building Physically Grounded Causal Reasoners

    Jun 1, 2026Zheng Lu, Mingqi Gao, Qinlei Xie +8Classical PlanningEmbodied Agents

  30. IMWM: Intuition Models Complement World Models for Latent Planning

    Jun 1, 2026Baoqi Gao, Ruize Han, Miao Wang +1Latent World ModelsWorld Models

  31. Embedding Semantic Risk into Distance Fields and CBFs for Online Monocular Safe Control

    Jun 1, 2026Dawei Zhang, Nuo Chen, Shuo Liu +2Control Barrier FunctionsObstacle Avoidance

  32. Spatio-Temporal Reconnection for Multi-Robot Networks using Adaptive Prescribed-Time CBFs

    Jun 1, 2026Hao Liu, Yupeng Yang, Yanze Zhang +1Multi-Robot SystemsControl Barrier Functions

  33. Learning-based Directed Graph Abstraction of Combinatorial Spaces for Order-Preserving Search in Mixed-Combinatorial Nonlinear Optimization

    May 31, 2026Gishnu Madhu, Feng Liu, Souma ChowdhuryCombinatorial OptimizationDirected Acyclic Graph

  34. Coordinating Task Switching in a Robotics Multi-Agent System Using Behavior Trees

    May 31, 2026Lucas Haug, Anarosa Alves Franco Brandão, Arthur CasalsMulti-Robot SystemsMulti-Agent Systems

  35. Time-Optimal Collision Avoidance Via a Greedy Polynomial Backward Sweep

    May 31, 2026Zeno Pavanello, Frank De Veld, Roberto ArmellinCollision Avoidance

  36. Tether-Aware Dynamic Collision Avoidance for USV-HROV Systems

    May 31, 2026Yang Gu, Ziyang Hong, Xuanlin Chen +4Collision AvoidanceMulti-Uav Systems

  37. TravelEval: A Comprehensive Benchmarking Framework for Evaluating LLM-Powered Travel Planning Agents

    May 31, 2026Weiyi Chen, Shuaixiong Wang, Ziyun Gao +5TourLarge Language Model Planning

  38. Robust Integrated Planning and Control for Quadrotors in Dynamic Environments via NMPC with CBF Penalties

    May 31, 2026Zeinab Shayan, Mohammadreza Izadi, Reza FaieghiQuadrotor FlightModel Predictive Control

  39. OSCAR: Obstacle Survival Curves for Adaptive Robot Navigation

    May 31, 2026Hshmat Sahak, Aoran Jiao, Nicholas Rhinehart +1Obstacle AvoidanceSocial Robot Navigation

  40. Make Your VLA More Robust Without More Data By Interleaving Motion Planning

    May 31, 2026Dan BW Choe, Sundhar Vinodh Sangeetha, Samuel Coogan +1Vision-Language-Action ModelsLong-Horizon Planning

  41. Robust Asynchronous Planning via Auto-Formalization

    May 31, 2026Jiayi Zhang, Jianing Yin, Ben Zhou +1Large Language Model PlanningClassical Planning

  42. Generative Multi-Robot Motion Planning via Diffusion Modeling with Multi-Agent Reinforcement Learning Guidance

    May 30, 2026Suk Ki Lee, Venkata Sai Deepak Mutta, Hyunwoong KoMulti-Robot Motion PlanningDiffusion Planning

  43. A Machine-to-Machine Knowledge-Guided LLM Agent for Generalizable Radiotherapy Treatment Planning

    May 30, 2026Md Mainul Abrar, Xun Jia, Yujie ChiRadiotherapyLarge Language Model Planning

  44. Certificate-Guided Evaluation of Reinforcement Learning Generalization

    May 30, 2026Vignesh Subramanian, Đorđe Žikelić, Suguman BansalProblem Solving CapabilityObstacle Avoidance

  45. Coarse-to-Fine Compositional Diffusion for Long-Horizon Planning

    May 30, 2026Byoungwoo Park, Utkarsh A. Mishra, Jaemoo Choi +2Diffusion PlanningPlanning Methods

  46. STEM: Semantic Target Search and Exploration using MAVs in Cluttered Environments

    May 30, 2026Nikhil Sethi, Max Lodel, Laura Ferranti +2Social Robot NavigationClassical Planning

  47. Distributed GNEP Algorithms without Multiplier Sharing and Applications to Multi-Robot Coordination and Contextual Bandit-Based Active Learning

    May 30, 2026Shao-An YinMulti-Agent Reinforcement LearningNash Equilibrium

  48. Efficient Test-time Inference for Generative Planning Models with OCL Search

    May 30, 2026Robert Gieselmann, Mihai Samson, Federico Pecora +1Classical PlanningEfficient Inference

  49. Edge-Based QoS-Aware Adaptive Task Placement: A Closed-Loop Control in Multi-Robot Systems

    May 30, 2026Thien Tran, Jonathan Kua, Thuong Hoang +3Multi-Robot SystemsClosed-Loop Control

  50. Constrained Whole-Body Tracking for Humanoid Robots

    May 29, 2026Daniel Morton, Pranit Mohnot, Marco PavoneRobot SystemsMimic

  51. ROGUE: Misaligned Agent Behavior Arising from Ordinary Computer Use

    May 29, 2026Jeremy Tien, Abishek Anand, Yu-Rou Tuan +3Artificial Intelligence AgentsObstacle Avoidance

  52. IDOL: Inverse-Dynamics-Guided Future Prediction for End-to-End Autonomous Driving

    May 29, 2026Chenghao Zhang, Timin Li, Dongmei LiTrajectory PredictionAutonomous Driving

  53. On-Device Robotic Planning: Eliminating Inference Redundancy for Efficient Decision-Making

    May 29, 2026Joonhee Lee, Hyunseung Shin, Hyunmi Kim +2Robot PlanningExecutable Robot Behavior

  54. LiftNav: Path Planning via Semantic Lifting in TSDF-Guided Gaussian Splatting

    May 29, 2026Hannah Schieber, Dominik Frischmann, Victor Schaack +2Obstacle Avoidance3D Mapping

  55. Simulation of collision avoidance behavior in crowd movement by data-driven approach

    May 29, 2026Xuanwen Liang, Eric Wai Ming LeePedestrian Trajectory PredictionMicroscopic Traffic Simulations

  56. Probing Collision Grounding in Vision-Language Models for Safe Human-Robot Collaboration

    May 29, 2026Jun Wang, Xiaohao Xu, Xiaonan HuangHuman-Robot CollaborationExplicit Visual Grounding

  57. A study on a Real-Time VR-Based Teleoperation Framework for Manipulator in Dynamic Environment

    May 29, 2026InGyu Choi, GeonYeong Go, SunWoo Ahn +2TeleoperationRobotic Arms

  58. Trajectory Planning for Non-Communicating Mobile Robots using Inverse Optimal Control

    May 29, 2026Nina Majer, Yannick Epple, Xin Ye +2Collision AvoidanceRobot Systems

  59. Closed-Loop Object-Informed Control for Non-Prehensile Robot Manipulation

    May 29, 2026Nikola Raicevic, Hyomuk Kim, Shahid Mulla +5Model Predictive Path IntegralRobot Planning

  60. GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulation

    May 29, 2026Beichen Shao, Mengying Xie, Heng Su +5Generalizable Robotic ManipulationsArticulated Objects