Planning

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Period ending 2026-09-21

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  1. Congestion-Aware Robot Tour Planning in Crowded Environments

    Jun 17, 2026Stefano Bernagozzi, Charlie Street, Masoumeh Mansouri +1Robot PlanningPedestrian Trajectory Prediction

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

    Jun 17, 2026Thomas Quilter, Yifan Zhu, Guorui Quan +2Diffusion PlanningModel-Free Reinforcement Learning

  3. Space Is Intelligence: Neural Semigroup Superposition for Riemannian Metric Generation

    Jun 17, 2026Chenghao XuRiemannian ManifoldsIntelligence

  4. Two-Phase Bilevel Search for the Moving-Target Traveling Salesman Problem with Moving Obstacles

    Jun 17, 2026Allen George Philip, Anoop Bhat, Sivakumar Rathinam +1Salesman ProblemBilevel Optimization

  5. PersonalPlan: Planning Multi-Agent Systems for Personalized Programming Learning

    Jun 17, 2026Zhiyuan Wen, Jiannong Cao, Peng Gao +4Multi-Agent SystemsPlanning Methods

  6. LAGO Policy: Latency-Aware Asynchronous Diffusion Policies with Goal-Directed Collision-Free Planning for Smooth Manipulation

    Jun 16, 2026Guowei Shi, Xupeng Xie, Yiming Luo +3Visuomotor PolicyCollision-Free Trajectories

  7. ED3R: Energy-Aware Distributed Disaster Detection Enabled by Cooperative Robotic Agents

    Jun 16, 2026Lina Magoula, Nikolaos Koursioumpas, Nancy Alonistioti +1Wildfire DetectionMulti-Robot Systems

  8. FLAP: FOV-Constrained Active Perception Planning for Prior-Map-Free 3D Navigation

    Jun 16, 2026Mengke Zhang, Sitong Li, Tiancheng Lai +6Viewpoint-Dependent Active PerceptionUnmanned Aerial Vehicles

  9. GeneralVLA-2: Geometry-Aware Reconstruction and Governed Memory for Robot Planning

    Jun 16, 2026Haoyu Wang, Guoqing Ma, Zeyu Zhang +33D ReconstructionGeometric Reconstruction

  10. Contactless Respiratory Monitoring on Heterogeneous Mobile Robots: A Multimodal Edge-Computing Framework

    Jun 16, 2026Milind Rampure, Shadman Sakib, Haley Patel +2Respiratory Sound ClassificationRobotics

  11. ProCUA-SFT Technical Report

    Jun 15, 2026Jaehun Jung, Ximing Lu, Brandon Cui +11Computer-Use AgentsAgent Framework

  12. When in Doubt, Plan It Out: Committed Small Language Model Deliberation for Reactive Reinforcement Learning

    Jun 15, 2026Nathan Gavenski, Juarez Monteiro, Francisco Galuppo +2ReactivePlanning Methods

  13. When Should a Robot Replan? Regret-Guided Update Scheduling in Time-Varying MDPs

    Jun 15, 2026Negin Musavi, Gokul Puthumanaillam, Ruben Hernandez +2Dynamic ReplanningMarkov Decision Processes

  14. SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM

    Jun 15, 2026Yewei Huang, Tixiao Shan, Abhinav Rajvanshi +4Simultaneous Localization And MappingOrb-Slam2

  15. Towards mm-Level Accurate UWB Radar: High-Accuracy Phase-Based Obstacle Detection through Multi-Channel Fusion

    Jun 15, 2026Jelle De Moerloose, Adnan Shahid, Eli De PoorterRadarObstacle Avoidance

  16. Robots that Collaborate: Sequential Asymmetric Imitation for Learning Coupled Robot Policies

    Jun 15, 2026Yincong Chen, Ranpeng Qiu, Zihao Li +3Human-Robot CollaborationImitation Learning

  17. HOLO-MPPI: Multi-Scenario Motion Planning via Hierarchical Policy Optimization

    Jun 15, 2026Youngjae Min, Jovin D'sa, Faizan M. Tariq +3Model Predictive Path IntegralDeep Reinforcement Learning

  18. Tensor-Coord: Algebraic Decomposition of Joint Plan Tensors for Conflict-Free Multi-Agent LLM Planning

    Jun 15, 2026Mudit RastogiMulti-Agent CoordinationLarge Language Model Planning

  19. Instance-Aware Knowledge Distillation for Semi-Supervised Learning of an On-Board Multi-Task Dense Prediction Model for Collision Avoidance System

    Jun 15, 2026Gyutae Hwang, Sang Jun LeeAutonomous Driving PerceptionDense Prediction

  20. SemGeoNav:A Safety-Guided Visual Navigation Approach with Semantic Reasoning and Geometric Planning

    Jun 15, 2026Yu Liu, Zongyang Chen, Yan Guo +2Obstacle AvoidanceRepresentational Geometry

  21. Exploiting Search in Symbolic Numeric Planning with Patterns

    Jun 15, 2026Matteo Cardellini, Enrico GiunchigliaClassical PlanningSatisfiability

  22. FlowMPC: Improving Flow Matching policies with World Models

    Jun 15, 2026Chandon HamelEfficient World-Action ModelImitation Learning

  23. λλ-Reachability: Geometric-Horizon Safety Bellman Equations for Humanoid Safety

    Jun 14, 2026Rui Chen, Shangtao Li, Yifan Sun +1Hamilton-Jacobi ReachabilityReachability

  24. JPPD: Joint Prediction_Planning Diffusion with Differentiable Safety Guidance for Dynamic Obstacle Avoidance in Intelligent Transportation Systems

    Jun 14, 2026Jiahao Wu, Shengwen YuDiffusion PlanningObstacle Avoidance

  25. Can Causal Models Enhance Robot Navigation? Online Causal Adaptation for Real-Robot Navigation

    Jun 14, 2026Zhitao Liang, Alex Mitrevski, Emmanuel Dean +1Social Robot NavigationStructural Causal Model

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

    Jun 14, 2026Wenjing Tang, Xuanjin Jin, Yuan Liu +3Partially Observable Markov Decision ProcessBelief Space

  27. Pixels to Proofs: Probabilistically-Safe Latent World Model Control via Parallel Conformal Robust MPC

    Jun 14, 2026Devesh Nath, Anutam Srinivasan, Haoran Yin +3Model Predictive ControlLatent World Models

  28. Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generation

    Jun 14, 2026Ruofei Bai, Jie Chen, Yuxin Cai +3Multi-Robot Motion PlanningRobot Systems

  29. Understanding and Modeling Perceived Cognitive and Physical Strain Dynamics for Planning-Oriented Human-Robot Collaboration in Prefabricated Construction

    Jun 13, 2026Yifan Wang, Bo Xiao, Shane T. MuellerHuman-Robot CollaborationClassical Planning

  30. DiRecT: Safe Diffusion-Based Planning via Receding-Horizon Denoising

    Jun 13, 2026Paolo Giaretta, Zeyang Li, Navid AzizanDiffusion PlanningSafety Constraints

  31. ChatPlanner: A Large Language Model Framework for Personalized Public Transit Routing

    Jun 13, 2026Tingting Yang, Chenhao Xue, Jun ChenTransit Network DesignLarge Language Model Routing

  32. Hamilton-Jacobi Reachability-Based Safe Reinforcement Learning for Emergency Collision Avoidance

    Jun 13, 2026Yuhong Jiang, Shiyue Zhao, Junzhi Zhang +4Hamilton-Jacobi ReachabilityCollision Avoidance

  33. OSDAG: Online Scheduling for Efficient Multi-Robot Collaboration

    Jun 13, 2026Thanh Nguyen Canh, Thang Tran Viet, Phuc Van Dinh +2Multi-Robot SystemsMulti-Agent Coordination

  34. Exact, Efficient, and Safe Occlusion-Aware Planning Using AH-Polyhedrons

    Jun 13, 2026Long Kiu Chung, David Isele, Toktam Mohammadnejad +4Diverse Occlusion-And-Revelation ScenariosPlanning Methods

  35. DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models

    Jun 12, 2026Wenhao Yu, Yu'ang Xie, Yifan Duan +5Multi-Robot SystemsCollaboration

  36. Sensitivity Shaping for Latent Modeling

    Jun 12, 2026Hongzhan Yu, Chenghao Li, Ruipeng Zhang +2Latent DynamicsObstacle Avoidance

  37. A Temporal Planning Framework for Disruption Aware Dynamic Route Optimization in Heterogeneous Railway Systems

    Jun 12, 2026Pollob Chandra Ray, Sabah Binte Noor, Fazlul Hasan SiddiquiRailway EnvironmentsPlanning Methods

  38. CADET: Physics-Grounded Causal Auditing and Training-Free Deconfounding of End-to-End Driving Planners

    Jun 12, 2026Zikun GuoAutonomous DrivingCausal Reasoning

  39. Causal Object-Centric Models for Planning with Monte Carlo Tree Search

    Jun 12, 2026Rodion Vakhitov, Leonid Ugadiarov, Alexey Skrynnik +1Monte Carlo Tree SearchObject-Centric Learning

  40. Development of a 3 in Sewer Pipe Inspection Robot with an Articulated Differential Mechanism using X-shaped Linkages

    Jun 12, 2026Shoya Umemura, Ryota Taniguchi, Atsushi KakogawaKinematic ChainObstacle Avoidance

  41. Semidefinite Relaxations for Collision-Free Motion Planning

    Jun 12, 2026Bernhard Paus Graesdal, Alexandre Amice, Pablo A. Parrilo +1Collision-Free TrajectoriesSemidefinite Programming

  42. AnyGoal: Vision-Language Guided Multi-Agent Exploration for Training-Free Lifelong Navigation

    Jun 11, 2026MoniJesu James, Marcelino Julio Fernando, Miguel Altamirano Cabrera +1Vision-Language NavigationMulti-Robot Systems

  43. Multi-Agent Embodied Autonomous Driving: From V2X Information Exchange to Shared World Models

    Jun 11, 2026Senkang Hu, Zhengru Fang, Yihang Tao +3Autonomous DrivingV2X

  44. How Task Structure Limits Multi-Agent Success: An Information-Theoretic Analysis

    Jun 11, 2026Shi Pan, Ming LuoMulti-Agent SystemsSingle-Agent

  45. Bounding Boxes as Goals: Language-Conditioned Grasping via Neuro-Symbolic Planning

    Jun 11, 2026Allison Andreyev, Landon Eum, Nestor Tiglao +1Real-World Manipulation TasksClassical Planning

  46. G-MAPP: GPU-accelerated Multi-Agent Planning and Perception for Reactive Motion Generation

    Jun 10, 2026Tanmay Bishnoi, Riddhiman Laha, Tobias Löw +3Collision-Free TrajectoriesMulti-Gpu Systems

  47. Foresight: Iterative Reasoning About Clues that Matter for Navigation

    Jun 10, 2026Arthur Zhang, Carl Qi, Donne Su +3Vision-Language NavigationForesight

  48. DIRECT: When and Where Should You Allocate Test-Time Compute in Embodied Planners?

    Jun 10, 2026Jadelynn Dao, Milan Ganai, Yasmina Abukhadra +7Test TimeClassical Planning

  49. CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy

    Jun 10, 2026Ria Doshi, Tian Gao, Annie Chen +2Multi-Robot SystemsCollaboration

  50. UGV-Conditioned Multi-UAV Informative Planning on a Shared Exposure Belief

    Jun 10, 2026Lars Oerlemans, Moji Shi, Marija PopovicMulti-Uav SystemsCollision Avoidance

  51. Fibration Trees: A Unified Approach to Multi-Robot Motion Planning

    Jun 10, 2026Andreas Orthey, Florian T. Pokorny, Lydia E. KavrakiMulti-Robot Motion PlanningPlanning Methods

  52. Learning Unions of Convex Sets via Invertible Latent Decomposition for Path Planning

    Jun 10, 2026Taerim Yoon, Dongho Kang, Kisang Park +3Collision-Free TrajectoriesPolytopes

  53. Can AI Reason Like an Urban Planner? Benchmarking Large Language Models Against Professional Judgment

    Jun 10, 2026Yijie Deng, He Zhu, Wen Wang +3Large Language Model PlanningUrban Environments

  54. SAFER-Nav: Enhancing Safety for Visual Robot Navigation via Segmentation-Aware Fine-Tuning

    Jun 10, 2026Geonyeong Ko, Giung Lee, Changjoo NamSocial Robot NavigationObstacle Avoidance

  55. ConsistencyPlanner: Real-time Planning with Fast-Sampling Consistency Models

    Jun 10, 2026Qichao Zhang, Xing Fang, Jiaqi Fang +4Autonomous DrivingPlanning Methods

  56. Steering Multirobot Behavior via Closed-Loop Affine Activation Editing

    Jun 9, 2026Satyajeet Das, Darren Chiu, Shashank Hegde +1Robot PoliciesMulti-Robot Systems

  57. Diffusion Forcing Planner: History-Annealed Planning with Time-Dependent Guidance for Autonomous Driving

    Jun 9, 2026Zehan Zhang, Neng Zhang, Yaoyi Li +2Diffusion PlanningAutonomous Driving Simulation

  58. Multi-UAV Active Sensing with Information Gain-based Planning and Belief Fusion

    Jun 9, 2026S. Habibi, L. MarquesMulti-Uav SystemsMulti-Sensor Fusion

  59. AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation

    Jun 9, 2026Tianhao Zang, Siwei Cheng, Haidong Huang +2NavigationCoverage Path Planning

  60. ros2probe: Non-intrusive, Kernel-selective Observability for Robot Operating System 2 Middleware

    Jun 9, 2026Jisang Yu, Sanghoon Lee, Yeonwoo Choi +1Robot Operating SystemPartial Observability