Planning

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Period ending 2026-09-21

63 new papers

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Planning Methods

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Multi-Robot Systems

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Classical Planning

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Obstacle Avoidance

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Motion Planners

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Collision Avoidance

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Robot Planning

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Collision-Free Trajectories

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Multi-Robot Motion Planning

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1,180 papers

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Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue
Sep 18, 2025Xingyao Lin, Xinghao Zhu, Tianyi Lu +6Embodied Agents Multimodal Agents
Distributed Event-Triggered Distance-Based Formation Control for Multi-Agent Systems
Sep 15, 2025Evangelos Psomiadis, Panagiotis TsiotrasRobust Formation Control Multi-Robot Systems
Self-Supervised Goal-Reaching Results in Multi-Agent Cooperation and Exploration
Sep 12, 2025Chirayu Nimonkar, Shlok Shah, Catherine Ji +1Multi-Agent Coordination Global Coordination
First Plan Then Evaluate: Multi-Target Planning with Post-Planning Success Evaluation Improves Learning-Based Grasping Pipelines
Sep 8, 2025Martin Matak, Mohanraj Devendran Shanthi, Karl Van Wyk +1Grasp Generation Grasps
QuantV2X: A Fully Quantized Multi-Agent System for Cooperative Perception
Sep 3, 2025Seth Z. Zhao, Huizhi Zhang, Zhaowei Li +11V2X Collaborative Perception
Real-Time Model Checking for Closed-Loop Robot Reactive Planning
Aug 26, 2025Christopher Chandler, Bernd Porr, Giulia Lafratta +1Obstacle Avoidance Probabilistic Model Checking
Visual Perception Engine: Fast and Flexible Multi-Head Inference for Robotic Vision Tasks
Aug 15, 2025Jakub Łucki, Jonathan Becktor, Georgios Georgakis +2Robotic Perception Multi-Robot Systems
Symmetry-Aware Transformer Training for Automated Planning
Aug 11, 2025Markus Fritzsche, Elliot Gestrin, Jendrik SeippClassical Planning Transformer Architectures
Simulation-based planning of Motion Sequences for Automated Procedure Optimization in Multi-Robot Assembly Cells
Jul 31, 2025Loris Schneider, Marc Ungen, Elias Huber +1Multi-Robot Motion Planning Multi-Robot Systems
Emergent interactions lead to collective frustration in robotic matter
Jul 29, 2025Onurcan Bektas, Adolfo Alsina, Steffen RulandsCollective Behaviors Multi-Robot Systems
NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning
Jul 18, 2025Qingyi Chen, Zachary Kingston, Ahmed H. QureshiRobot Planning Hamilton-Jacobi Reachability
Shared Modular Recurrence in Contextual MDPs for Universal Morphology Control
Jun 10, 2025Laurens Engwegen, Max Weltevrede, Caroline Horsch +2Scalable Robot Learning Iterative Reinforcement Learning
Efficient Q-Learning and Actor-Critic Methods for Robust Average-Reward Reinforcement Learning
Jun 8, 2025Yang Xu, Swetha Ganesh, Vaneet AggarwalQ-Learning Soft Actor-Critic
CogAD: Cognitive-Hierarchy Guided End-to-End Autonomous Driving
May 27, 2025Zhennan Wang, Jianing Teng, Canqun Xiang +4Autonomous Driving Classical Planning
ViPlan: A Benchmark for Visual Planning with Symbolic Predicates and Vision-Language Models
May 19, 2025Matteo Merler, Nicola Dainese, Minttu Alakuijala +5Classical Planning Explicit Visual Grounding
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
May 16, 2025Lizhi Yang, Blake Werner, Ryan K. Cosner +3Control Barrier Functions Scalable Robot Learning
MuTRAP: Multi-trigger Trojans Attacking Robot Task Planning Systems
Apr 23, 2025Mohaiminul Al Nahian, Zainab Altaweel, David Reitano +3Robot Planning Classical Planning
MOSAIC: Skill-Centric Manipulation Planning with Physics Simulation
Apr 23, 2025Itamar Mishani, Yorai Shaoul, Maxim LikhachevRobot Planning Classical Planning
D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations
Mar 15, 2025Yuhao Zhang, Keisuke Okumura, Heedo Woo +2Multi-Robot Motion Planning Denoising Trajectory
Navigating Demand Uncertainty in Container Shipping: Deep Reinforcement Learning for Enabling Adaptive and Feasible Master Stowage Planning
Feb 18, 2025Jaike van Twiller, Yossiri Adulyasak, Erick Delage +2Deep Reinforcement Learning Last Mile
Inferring the Unspoken: Aligning Embodied Agents with Implicit Preferences
Feb 2, 2025Manjie Xu, Xinyi Yang, Wei Liang +2Embodied Agents Classical Planning
Successor-Generator Planning with LLM-generated Heuristics
Jan 30, 2025Alexander Tuisov, Yonatan Vernik, Alexander ShleyfmanClassical Planning Heuristics
Automating RT Planning at Scale: High Quality Data For AI Training
Jan 21, 2025Riqiang Gao, Mamadou Diallo, Han Liu +10Radiotherapy Treatment
Human-In-The-Loop Machine Learning for Safe and Ethical Autonomous Vehicles: Principles, Challenges, and Opportunities
Aug 22, 2024Yousef Emami, Mohammadhossein Homaei, Miguel Gutiérrez Gaitán +4Autonomous Driving Human-In-The-Loop
ProSpec RL: Plan Ahead, then Execute
Jul 31, 2024Liangliang Liu, Yi Guan, BoRan Wang +5Model-Free Reinforcement Learning Deep Reinforcement Learning
CLMASP: Coupling Large Language Models with Answer Set Programming for Robotic Task Planning
Jun 5, 2024Xinrui Lin, Yangfan Wu, Huanyu Yang +3Robot Planning Executable Robot Behavior
OGM-CBF: Occupancy Grid Map-based Control Barrier Function for Safe Mobile Robot Control with Memory of out of View Obstacles
May 17, 2024Golnaz Raja, Miloš Prágr, Topi Reino Johannes Kärki +2Control Barrier Functions Obstacle Avoidance
N-dimensional Convex Obstacle Avoidance using Hybrid Feedback Control (Extended version)
Mar 17, 2024Mayur Sawant, Ilia Polushin, Abdelhamid TayebiObstacle Avoidance Social Robot Navigation
Assortment Planning with Sponsored Products
Feb 9, 2024Shaojie Tang, Shuzhang Cai, Jing Yuan +1Products Planning Methods
Bridging Language and Action: A Survey of Language-Conditioned Robot Manipulation
Dec 17, 2023Xiangtong Yao, Hongkuan Zhou, Oier Mees +12Generalizable Robotic Manipulations Language-Conditioning Space Policy
An Optimal Algorithm for Changing from Latitudinal to Longitudinal Formation of Autonomous Aircraft Squadrons
Dec 1, 2017Paulo André Sperandio Giacomin, Elder Moreira HemerlyAdvanced Jet Trainer Uncrewed Aerial Vehicles
MIMIC-D: Multi-modal Imitation for MultI-agent Coordination with Decentralized Diffusion Policies
Date pendingDayi Dong, Maulik Bhatt, Seoyeon Choi +1Multi-Agent Coordination Multi-Robot Systems
Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
Date pendingErina Yamaguchi, Ryan M. Bena, Gilbert Bahati +1Collision Avoidance Safety Filters
Data-Driven Risk Fields for Safer End-to-End Autonomous Driving
Date pendingYuanxin Tian, Zhiyuan Liu, Jinhao Li +9Autonomous Driving Classical Planning
Dynamic Multi-Agent Pickup and Delivery in Robotic Cellular Warehousing Systems
Date pendingCheng Ren, Ming Li, Xinping Guan +1Multi-Robot Systems Warehouse Automation
Multi-Robot Scanner for Automated Full-Body Dermoscopic Imaging
Date pendingValerio Franchi, Rafael Garcia, Nuno Gracias +7Skin Lesion Classification Microscopy
Simplifying ROS2 controllers with a modular architecture for robot-agnostic reference generation
Date pendingDavide Risi, Vincenzo Petrone, Antonio Langella +3Multi-Robot Systems Modular Framework
Optimal Solutions for the Moving Target Vehicle Routing Problem with Obstacles via Lazy Branch-and-Price
Date pendingAnoop Bhat, Geordan Gutow, David Neiman +4Vehicle Routing Problem Shortest Paths
OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots
Date pendingBoxun Hu, Chang Chang, Jiawei Ge +4Diverse Occlusion-And-Revelation Scenarios Robotics
Obstacle-Aware Autonomous Coverage and Navigation for Outdoor Robots
Date pendingLeonardo Gargani, Matteo Frosi, Matteo MatteucciObstacle Avoidance Robot Operating System

Sep 18, 2025 · cs.ROJ/K move · Enter open · S save

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue

Xingyao Lin, Xinghao Zhu, Tianyi Lu, Guojin Zhong+5

Embodied agents are intelligent systems designed to perceive, reason, and act within the physical world. While the robotics community has long strived to build such versatile agents, a fundamental limitation persists: most current VLA-based models operate under a rigid ``Listen-and-Act'' paradigm. These systems assume instructions are unambiguous and execute them in a passive fashion, preventing them from resolving uncertainty through dialogue. To address this, we propose Ask-to-Clarify, a unified end-to-end framework that seamlessly integrates multi-turn disambiguation dialogue with low-level visuomotor control, eliminating the reliance on high-level action primitives or external planners. Specifically, Ask-to-Clarify synergizes a VLM-based Cognitive Planner with a Diffusion-based Motor Executor. To bridge the disparity between high-level disambiguation and low-level execution, we introduce a Semantic-Visual Alignment Adapter, which functions as a cross-modal interface to synthesize semantic intent with visual perceptual streams. Furthermore, we observe severe catastrophic forgetting: visuomotor fine-tuning completely erases dialogue capabilities. To overcome this, we propose a two-stage knowledge-insulation training strategy, effectively decoupling dialogue logic from physical manipulation. Extensive evaluations across 11 real-world tasks demonstrate that \framework{} significantly outperforms existing methods, offering a promising path toward building truly collaborative embodied agents.

Embodied Agents Multimodal Agents Visuomotor Control Dialogue Planning Methods

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