Planning

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Period ending 2026-09-21

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  1. Lexicographic Minimum-Violation Motion Planning using Signal Temporal Logic

    Apr 22, 2026Patrick Halder, Lothar Kiltz, Hannes Homburger +2Signal Temporal LogicMotion Planners

  2. Stochastic Barrier Certificates in the Presence of Dynamic Obstacles

    Apr 22, 2026Rayan Mazouz, Luca Laurenti, Morteza LahijanianControl Barrier FunctionsObstacle Avoidance

  3. Planning in entropy-regularized Markov decision processes and games

    Apr 21, 2026Jean-Bastien Grill, Omar Darwiche Domingues, Pierre Ménard +2Markov Decision ProcessesEntropy Regularized Reinforcement Learning

  4. SafetyALFRED: Evaluating Safety-Conscious Planning of Multimodal Large Language Models

    Apr 21, 2026Josue Torres-Fonseca, Naihao Deng, Yinpei Dai +5Large Language Model SafetyAgentic Benchmarks

  5. M2^{2}GRPO: Mamba-based Multi-Agent Group Relative Policy Optimization for Biomimetic Underwater Robots Pursuit

    Apr 21, 2026Yukai Feng, Zhiheng Wu, Zhengxing Wu +2Underwater RobotsMulti-Agent Reinforcement Learning

  6. Resolving space-sharing conflicts in road user interactions through uncertainty reduction: An active inference-based computational model

    Apr 21, 2026Julian F. Schumann, Johan Engström, Ran Wei +3Collision AvoidanceToward Interaction Dynamics

  7. Self-EmoQ: Plutchik-Guided Value-based Planning to Drive Streaming Emotional TTS

    Apr 21, 2026Yue Zhao, Hongyan Li, Yong Chen +1Zero-Shot Text-To-SpeechEmotion Recognition

  8. Learning Lifted Action Models from Unsupervised Visual Traces

    Apr 21, 2026Kai Xi, Stephen Gould, Sylvie ThiébauxAction SpaceClassical Planning

  9. Gated Coordination for Efficient Multi-Agent Collaboration in Minecraft Game

    Apr 21, 2026HuaDong Jian, Chenghao Li, Haoyu Wang +4Multi-Agent CoordinationCoordination

  10. Superficial Success vs. Internal Breakdown: An Empirical Study of Generalization in Adaptive Multi-Agent Systems

    Apr 21, 2026Namyoung So, Seokgyu Jang, Taeuk KimMulti-Agent SystemsMulti-Robot Systems

  11. Xiaomi OneVL: One-Step Latent Reasoning and Planning with Vision-Language Explanation

    Apr 20, 2026Jinghui Lu, Jiayi Guan, Zhijian Huang +47Efficient Latent ReasoningVision-Language

  12. Using large language models for embodied planning introduces systematic safety risks

    Apr 20, 2026Tao Zhang, Kaixian Qu, Zhibin Li +4Large Language Model PlanningClassical Planning

  13. DAG-STL: A Hierarchical Framework for Zero-Shot Trajectory Planning under Signal Temporal Logic Specifications

    Apr 20, 2026Ruijia Liu, Ancheng Hou, Xiao Yu +1Signal Temporal LogicPlanning Methods

  14. AgentRVOS for MeViS-Text Track of 5th PVUW Challenge: 3rd Method

    Apr 20, 2026Deshui Miao, Chao Yang, Chao Tian +4Vision SensorsAutonomous Surface Vehicles

  15. Scale-free adaptive planning for deterministic dynamics & discounted rewards

    Apr 20, 2026Peter L. Bartlett, Victor Gabillon, Jennifer Healey +1Value FunctionsPlanning Methods

  16. Multi-UAV Path Following using Vector-Field Guidance

    Apr 20, 2026Gautam Kumar, Amit Shivam, Ashwini RatnooMulti-Uav SystemsUncrewed Aerial Vehicles

  17. Process Reward Models Meet Planning: Generating Precise and Scalable Datasets for Step-Level Rewards

    Apr 20, 2026Raffaele Pisano, Roberto NavigliTable Reasoning DatasetsProcess Reward Modeling

  18. Can Explicit Physical Feasibility Benefit VLA Learning? An Empirical Study

    Apr 20, 2026Yubai Wei, Chen Wu, Hashem HaghbayanVision-Language-Action ModelsImitation Learning

  19. Driving risk emerges from the required two-dimensional joint evasive acceleration

    Apr 20, 2026Hao Cheng, Yanbo Jiang, Wenhao Yu +9Collision AvoidanceAutonomous Driving

  20. SYMBOLIZER: Symbolic Model-free Task Planning with VLMs

    Apr 20, 2026Sami Azirar, Zlatan Ajanovic, Hermann BlumClassical PlanningPlanning Methods

  21. Memory Centric Power Allocation for Multi-Agent Embodied Question Answering

    Apr 20, 2026Chengyang Li, Shuai Wang, Kejiang Ye +5Multi-Robot SystemsEmbodied Agents

  22. Video-Robin: Autoregressive Diffusion Planning for Intent-Grounded Video-to-Music Generation

    Apr 19, 2026Vaibhavi Lokegaonkar, Aryan Vijay Bhosale, Vishnu Raj +5Music GenerationAutoregressive Diffusion

  23. SpatialImaginer: Towards Adaptive Visual Imagination for Spatial Reasoning

    Apr 19, 2026Yian Li, Yang Jiao, Bin Zhu +4Spatial ReasoningMulti-Modal Large Language Models

  24. GaLa: Hypergraph-Guided Visual Language Models for Procedural Planning

    Apr 19, 2026Kun Wang, Yiming Li, Mingcheng Qu +3Vision-LanguageDeep Semantic Representations

  25. Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles

    Apr 19, 2026Aref Amiri, Basak Sakcak, Steven M. LaValleFeedback LinearizationObstacle Avoidance

  26. Logic-Based Verification of Task Allocation for LLM-Enabled Multi-Agent Manufacturing Systems

    Apr 18, 2026Jonghan Lim, Mostafa Tavakkoli Anbarani, Rômulo Meira-Góes +1ManufacturingMulti-Robot Systems

  27. Multi-stage Planning for Multi-target Surveillance using Aircrafts Equipped with Synthetic Aperture Radars Aware of Target Visibility

    Apr 18, 2026Daniel Fuertes, Carlos R. del-Blanco, Fernando Jaureguizar +2Synthetic Aperture RadarTrajectory Optimization

  28. ProtoCycle: Reflective Tool-Augmented Planning for Text-Guided Protein Design

    Apr 18, 2026Yutang Ge, Guojiang Zhao, Sihang Li +7Protein DesignFolding

  29. Autonomous Vehicle Collision Avoidance With Racing Parameterized Deep Reinforcement Learning

    Apr 17, 2026Shathushan Sivashangaran, Vihaan Dutta, Apoorva Khairnar +2Collision AvoidanceAutonomous Driving

  30. Emergency Stopping for Liquid-manipulating Robots

    Apr 17, 2026Samuli Hynninen, Ville KyrkiMotion PlannersRobot Systems

  31. Semantic Area Graph Reasoning for Multi-Robot Language-Guided Search

    Apr 17, 2026Ruiyang Wang, Hao-Lun Hsu, Jiwoo Kim +1Multi-Robot Systems

  32. The Global Neural World Model: Spatially Grounded Discrete Topologies for Action-Conditioned Planning

    Apr 17, 2026Noureddine KermicheJoint-Embedding Predictive ArchitecturesClassical Planning

  33. SocialGrid: A Benchmark for Planning and Social Reasoning in Embodied Multi-Agent Systems

    Apr 17, 2026Hikaru Shindo, Hanzhao Lin, Lukas Helff +2Social ReasoningMulti-Agent Systems

  34. Hierarchical Active Inference using Successor Representations

    Apr 17, 2026Prashant Rangarajan, Rajesh P. N. RaoHierarchical Reinforcement LearningClassical Planning

  35. Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments

    Apr 17, 2026Aedan Mangan, Kehan Long, Ki Myung Brian Lee +3Soft RobotsUnknown Environments

  36. Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy

    Apr 16, 2026Longchen Niu, Andrew Nasif, Gennaro NotomistaMulti-Robot SystemsLyapunov Function

  37. Trajectory Planning for Safe Dual Control with Active Exploration

    Apr 16, 2026Kaleb Ben Naveed, Manveer Singh, Devansh R. Agrawal +1Quadrotor FlightClassical Planning

  38. NeuroMesh: A Unified Neural Inference Framework for Decentralized Multi-Robot Collaboration

    Apr 16, 2026Yang Zhou, Yash Shetye, Long Quang +8Multi-Robot SystemsCollaborative Perception

  39. Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios

    Apr 16, 2026Carlos S. Sepúlveda, Gonzalo A. RuzHeuristicsPolygons

  40. How to Correctly Make Mistakes: A Framework for Constructing and Benchmarking Mistake Aware Egocentric Procedural Videos

    Apr 16, 2026Olga Loginova, Frank KellerEgocentric VideoVideo Editing

  41. Trajectory Planning for a Multi-UAV Rigid-Payload Cascaded Transportation System Based on Enhanced Tube-RRT*

    Apr 16, 2026Jianqiao Yu, Jia Li, Tianhua GaoMulti-Uav SystemsMulti-Robot Motion Planning

  42. Momentum-constrained Hybrid Heuristic Trajectory Optimization Framework with Residual-enhanced DRL for Visually Impaired Scenarios

    Apr 16, 2026Yuting Zeng, Zhiwen Zheng, Jingya Wang +6Trajectory OptimizationTrajectory Prediction

  43. Blazing the trails before beating the path: Sample-efficient Monte-Carlo planning

    Apr 16, 2026Jean-Bastien Grill, Michal Valko, Rémi MunosMarkov Decision ProcessesClassical Planning

  44. ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints

    Apr 16, 2026Pei-An Chen, Yong-Ching Liang, Jia-Fong Yeh +4AffordancesEmbodied Agents

  45. Integrating Object Detection, LiDAR-Enhanced Depth Estimation, and Segmentation Models for Railway Environments

    Apr 16, 2026Enrico Francesco Giannico, Federico Nesti, Gianluca D'Amico +53D Object DetectionLight Detection And Ranging Point Clouds

  46. World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems

    Apr 16, 2026Runze Li, Hongyin Zhang, Junxi Jin +5Long-Horizon PlanningNext Activity Prediction

  47. SGA-MCTS: Decoupling Planning from Execution via Training-Free Atomic Experience Retrieval

    Apr 16, 2026Xin Xie, Dongyun Xue, Wuguannan Yao +5Large Language Model PlanningPlanning Methods

  48. Mosaic: An Extensible Framework for Composing Rule-Based and Learned Motion Planners

    Apr 15, 2026Nick Le Large, Marlon Steiner, Lingguang Wang +4Motion PlannersAutonomous Driving

  49. Reliability-Guided RGB-D Sensor Fusion for Glare-Resilient Navigation Costmaps

    Apr 14, 2026Shang-En Tsai, Wei-Cheng SunRgb-Depth CamerasObstacle Avoidance

  50. Resilient Decentralized Ergodic Coverage for Scalable Multi-Robot Systems in Unknown Time-Varying Environments

    Apr 5, 2026Maria G. Mendoza, Victoria Marie Tuck, Chinmay Maheshwari +1Multi-Robot SystemsFinite-Sample Coverage Guarantees

  51. DriveVA: Video Action Models are Zero-Shot Drivers

    Apr 5, 2026Mengmeng Liu, Diankun Zhang, Jiuming Liu +7Autonomous DrivingDrives

  52. Goal-Conditioned Neural ODEs with Guaranteed Safety and Stability for Learning-Based All-Pairs Motion Planning

    Apr 3, 2026Dechuan Liu, Ruigang Wang, Ian R. ManchesterMotion PlannersInverse Dynamics

  53. Language Models as Higher-Order Planning Formalizers

    Mar 25, 2026Owen Jiang, Cassie Huang, Ashish Sabharwal +1Large Language Model PlanningLarge Language Model Reasoning

  54. Object Search in Partially-Known Environments via LLM-informed Model-based Planning and Prompt Selection

    Mar 25, 2026Abhishek Paudel, Abhish Khanal, Raihan I. Arnob +2Classical PlanningPlanning Methods

  55. SpecEyes: Accelerating Agentic Multimodal LLMs via Speculative Perception and Planning

    Mar 24, 2026Haoyu Huang, Jinfa Huang, Zhongwei Wan +3Multimodal AgentsMulti-Modal Large Language Models

  56. Planning over MAPF Agent Dependencies via Multi-Dependency PIBT

    Mar 24, 2026Zixiang Jiang, Yulun Zhang, Rishi Veerapaneni +1Multi-Agent Path FindingPlanning Methods

  57. From Singleton Obstacles to Clutter: Translation Invariant Compositional Avoid Sets

    Mar 23, 2026Prashant Solanki, Jasper Van Beers, Coen De VisserObstacle AvoidanceHamilton-Jacobi Reachability

  58. IndoorR2X: Indoor Robot-to-Everything Coordination with LLM-Driven Planning

    Mar 20, 2026Fan Yang, Soumya Teotia, Shaunak A. Mehta +8Multi-Robot SystemsIndoor Environments

  59. On the Ability of Transformers to Verify Plans

    Mar 20, 2026Yash Sarrof, Yupei Du, Katharina Stein +3Classical PlanningTransformer Architectures

  60. Unlabeled Multi-Robot Motion Planning with Improved Separation Trade-offs

    Mar 19, 2026Tsuri Farhana, Omrit Filtser, Shalev GoldshteinMulti-Robot Motion PlanningApproximation Algorithms