Planning

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Period ending 2026-09-21

63 new papers

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  1. Connectivity-Aware Graph Extension for Decentralized Multi-Robot Exploration

    Sep 1, 2026Béatrice Garcia Cegarra, Elena Vanneaux, Quentin Picard +1Multi-Uav SystemsMulti-Robot Systems

  2. TRIPPULSE: Multi-Agent Travel Planning with Review-Grounded Reasoning

    Aug 31, 2026Priyanshu Karmakar, Borru Vijay Sai, Shubhojit Mallick +3TourClassical Planning

  3. Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems

    Aug 31, 2026Max Studt, Georg SchildbachModel Predictive ControlDecentralization

  4. Geometric Attractor Monitoring: A Robust and Frugal Framework for Multi-modal Industrial Robotic Cycles

    Aug 31, 2026Martin Bonsergent-Brachet, Jesse Read, Dany AbboudZero-Shot Anomaly DetectionSensors

  5. HiRS-Agent: A Hierarchical Multi-Agent System for Reliable Long-Horizon Remote Sensing Task Solving

    Aug 31, 2026Boyang Mu, Zhiwei Wei, Mugen Peng +1Remote SensingMulti-Agent Systems

  6. Trajectory-Initialized Neural Double Q-Routing for Large-Scale Overhead Hoist Transport Systems

    Aug 31, 2026Cheng Gu, Qiusheng Zhao, Anbang Liu +2Trajectory OptimizationHandoff

  7. Sampling-based Certified Planning with Graphs of Convex Sets

    Aug 30, 2026Peng Xie, Amr AlanwarCollision-Free TrajectoriesPlanning Methods

  8. LARC: Lazy Adaptive Reachability Certification of Robot Manipulator Trajectories

    Aug 30, 2026Yu Feng, Hao Wu, Yuzhe Wang +1ReachabilityRobot Trajectories

  9. Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations

    Aug 15, 2026Ananya Trivedi, Sarvesh Prajapati, Zhexin Xu +3Collision-Free TrajectoriesConvex Sets

  10. OccPlanner: Goal-Aware Occupancy-Conditioned Diffusion Planner for PixelGoal Navigation

    Aug 14, 2026Binling Huang, Nianjin Ye, Xi Yang +6Diffusion Planning3D Semantic Occupancy Prediction

  11. Predictive Relative-Velocity Steering for Safe Robotic Manipulator Teleoperation in Dynamic Environments

    Aug 13, 2026Changhao Hu, Zeyi Liu, Songqiao Hu +3Collision AvoidanceTeleoperation

  12. OGR-MARL: Option-Guided Residual Multi-Agent Reinforcement Learning for Heterogeneous USV Cooperative Pursuit in Constrained Port Waterways

    Aug 13, 2026Mao Jiayang, Wang Lanfeng, Peng Zhao-HanMulti-Agent Reinforcement LearningMulti-Uav Systems

  13. The Objective Is the Bottleneck: Latent World Models Encode What Their Planners Cannot Use

    Aug 13, 2026Joyjeet SinghLatent World ModelsClassical Planning

  14. InFactPlanner: Planning Sustainable Geo-Distributed LLM Data Centers

    Aug 13, 2026Nicoletta Tsiopani, Moysis Symeonides, George Pallis +1Artificial Intelligence Data CentersOnline Inference

  15. BrainWAM: Action-Space Coordination of Semantic Priors and Predictive Dynamics for Autonomous Driving

    Aug 13, 2026Bing Zhan, Shuyao Shang, Jiahao Gu +8Autonomous DrivingEfficient Vision-Language-Action Models

  16. Genetic Fuzzy System-Based Multi-Robot Coordination for Planetary Missions

    Aug 13, 2026Daegyun Choi, Donghoon KimMulti-Robot SystemsPlanetary Exploration

  17. Attune: A Self-Annotation Tool for Understanding Robot Operator Attention Profiles

    Aug 12, 2026Puqi Zhou, Sungsoo Ray Hong, David PorfirioExecutable Robot BehaviorRobot Systems

  18. Entropy-Augmented Multi-Objective Policy Optimization in Multiagent Systems

    Aug 12, 2026Jamie Santos, Ayhan Alp Aydeniz, Raghav Thakar +1Multi-Agent EvolutionMulti-Agent Systems

  19. Learning-Based Behavior Planning for Automated Driving: Real-World Integration and Deployment

    Aug 12, 2026Jean-Pierre Busch, Guido Linden, Jan Bergmann +1Autonomous DrivingDrives

  20. RoutePack: Expert Placement and Attention-Aware Data Packing for MoE Reinforcement Learning

    Aug 12, 2026Yibo Shen, Xudong Han, Xiaowei Zhu +2Mixture-of-Experts ModelsExpert Demonstrations

  21. HUGIN: Enhancing Vision-Language Planning for Autonomous Logistics Sorting

    Aug 12, 2026Xikai Sun, Cangtian Zhou, Kebin Liu +6Large Vision Language ModelsIntelligence

  22. Herding End-to-End Autonomous Driving via Neuro-Symbolic Safety Guards

    Aug 11, 2026Simón Patiño Idarraga, Erick Silva, Rehana Yasmin +1Autonomous DrivingDriving

  23. Risk-Aware Kinodynamic Motion Planning Under Uncertainty For Safe Navigation on Planetary Environments

    Aug 11, 2026Sachin Sunil Kelkar, Tanmay Dokania, Yashwanth Kumar NakkaMotion PlannersPlanetary Exploration

  24. VIScore: Diagnosing Planning-Relevant Quality in Latent World Models

    Aug 11, 2026Haiyu Wu, Randall Balestriero, Morgan LevineLatent World ModelsWorld Models

  25. Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References

    Aug 10, 2026Carlos Gonzalez, Luis SentisCollision-Free TrajectoriesCollision Prediction

  26. Energy-Structured Latent World Models with Neural Time Fields for Physically Constistent Open-World Motion Planning

    Aug 10, 2026Yapeng Liu, Yuanzhao Zhai, Bo Ding +2Latent World ModelsMotion Planners

  27. Entanglement-Free Trajectory Planning for Tethered Mobile Robots with a Slack Tether

    Aug 10, 2026Gianpietro Battocletti, Dimitris Boskos, Bart De SchutterRobot TrajectoriesTrajectory Prediction

  28. Satellite Trajectory Optimization via Proximal Policy Optimization for Space Debris Avoidance

    Aug 10, 2026Logan Luna, Juan Ortiz Couder, Raul Alejandro Vargas-AcostaCollision AvoidanceSpacecraft

  29. FactorDrive: Adaptive Multi-Step Reasoning Driven by Planning-Critical Factors for End-to-End Autonomous Driving

    Aug 10, 2026Guolei Huang, Tengfei She, Yuxuan Lu +3Autonomous DrivingDriving

  30. TDMA Based Communications Control Co-Design for Cooperative Carrying: Delay Calibration and Sampling-Rate Optimization

    Aug 10, 2026Zahra Seifaei, Maximilian Luebke, Torsten Reissland +2Multi-Robot SystemsAdaptive Controller

  31. STAIR: Effective Incident Response Using an End-to-End Agentic Planning Framework

    Aug 10, 2026Hanlin Jiang, Jionghao Huang, Shaofei Li +6Incident ResponsePlanning Methods

  32. Graph-Guided Safe Diffuser: Topological Graph Guidance for Safe Diffusion Planning

    Aug 10, 2026Nakgyu Yang, KwangBin Lee, SooJean HanDiffusion PlanningReward-Guided Diffusion

  33. Task-Oriented Formation Decision via Reinforcement Learning: Herding an Attacking Swarm

    Aug 10, 2026Zhaozong Wang, Guibin Sun, Jinyong Chen +1Multi-Robot SystemsAttack Paper

  34. Latent World Models with Monotone Planning Costs for Image-Goal Navigation

    Aug 10, 2026Amirhosein Chahe, Siwei Cai, Lifeng ZhouLatent World ModelsObject Goal Navigation

  35. A Unified Issue Resolution Benchmark for Requirement Clarification, Planning, and Code Generation for Coding Agents

    Aug 10, 2026Xin Zhou, Chun Yong Chong, Kisub Kim +11Coding AgentsRepository

  36. MusicLayout: Explicit Structural Planning for Controllable Text-to-Music Generation

    Aug 10, 2026Shuyu Li, Kejun Zhang, Jiahe Lei +5Music GenerationSheet Music

  37. PEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling

    Aug 9, 2026Servet B. Bayraktar, Andreas Orthey, Zachary Kingston +1Long-Horizon PlanningCollision-Free Trajectories

  38. Discovering Diverse Planning Policies for Multimodal Embodied Agents with Quality-Diversity Optimization

    Aug 9, 2026Pengfei Xu, Yong Liu, Xiaoya Nan +2Classical PlanningMultimodal Agents

  39. SurgWMBench: A Vision-Based Benchmark for World-Modeling Surgical Instrument Motion Planning

    Aug 8, 2026Huanrong Liu, Weiliang Huang, Bob Zhang +3Surgical VideosGradient Surgery

  40. Complete, Scalable, and Robust Prioritized Planning for Multi-Robot Ordered Storage and Retrieval at Maximum Capacity

    Aug 7, 2026William Zhang, Tzvika Geft, Jingjin Yu +1Multi-Robot Motion PlanningWarehouse Automation

  41. Hölder Signed Distance: A Differentiable, Signed, Parallelizable Metric for Robotics

    Aug 7, 2026Felipe Bartelt, Ali Umut Kaypak, Anthony Tzes +3DistancePolytopes

  42. UniJEPA: A Unified Joint-Embedding Predictive Architecture for Task-Agnostic Visual World Modeling

    Aug 7, 2026An Lanji, Dawei Liu, Jin Li +3Joint-Embedding Predictive ArchitecturesVideo World Models

  43. Depth-Wise Probing and Pruning of the Planning Token in a Driving Vision-Language-Action Model

    Aug 7, 2026Harisankar Babu, Benjamin Coors, Christopher Lang +3Efficient Vision-Language-Action ModelsVision-Language-Action Models

  44. A Reconfigurable Tracked Robot for Enhanced Obstacle Traversal Through Movable Articulation Point and Internal Mass Relocation

    Aug 7, 2026Yuki Uda, Yasutaka Nakashima, Motoji Yamamoto +1Obstacle AvoidanceLocomotion Stability

  45. Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF

    Aug 7, 2026Yisheng Li, Longji Yin, Tingrui Zhang +6Motion PlannersTrajectory Optimization

  46. When Coordination Becomes a Threat: Communication Attacks in LLM-Controlled Multi-Robot Systems

    Aug 7, 2026Zhen Huang, Zhihuang Liu, Weijia Shi +3Multi-Robot SystemsMultiple Attack Surfaces

  47. Coupling Planning with Episodic Memory in LLM Agents for Software Issue Resolution

    Aug 7, 2026Jiahao Zhang, Yifan Zhang, Yu HuangLarge Language Model AgentsEpisodic Memory

  48. Ising Acceleration for Multi-Robot Multi-Target Planning

    Aug 7, 2026Ahmet Efe, Recep B. Uludag, Chris H. Kim +1Multi-Robot Motion PlanningPlanning Methods

  49. Online Monitoring and Corrective Steering of Programming Agents

    Aug 7, 2026Shuyang Liu, Saman Dehghan, Ji Young Kim +3BugPlanning Methods

  50. The Horizon Gap: Planning, Memory, Execution, Training, and Evaluation for Long-Horizon LLM Agents

    Aug 7, 2026Mingguang Chen, Licheng Wang, Bo QuLong-Horizon TasksLong-Horizon

  51. Plan-and-Avoid: Real-Time Aircraft Trajectory Coordination in a Multi-Agent Environment

    Aug 6, 2026Huseyin Emre Tekaslan, Ella M. Atkins, Natasha NeogiAir Traffic ControlCollision Avoidance

  52. DyPES-VLA: Learning Shared Dynamics Priors and Embodiment-Specific Control for Cross-Embodiment Manipulation

    Aug 6, 2026Junfeng Li, Junjie He, Zhide Zhong +12Cross-Embodiment TransferAction Space

  53. Adaptive-WAM: Quality-Guided Early-Exit Planning from Intermediate Video-Diffusion Features

    Aug 6, 2026Sining Ang, Yuguang Yang, Yan WangDiffusion PlanningPre-Trained Video Diffusion Models

  54. Coordinated Multi-Robot Disassembly for Makespan Optimization of Large-Scale Assemblies

    Aug 6, 2026Niklas Hargus, Andreas Orthey, Marc ToussaintMulti-Robot Motion PlanningMulti-Robot Systems

  55. Iterative Hybrid Discrete-Continuous Viewpoint Planning for UAV Photogrammetry

    Aug 6, 2026Alan Grech, Daniel Pisani, Andre Grima +3Unmanned Aerial VehiclesAerial Imagery

  56. A Unified Framework for Trajectory Prediction with Explicit Planning and Reaction Decomposition

    Aug 6, 2026Jiaheng Chen, Jiaxing Li, Tinghe Zhang +1Trajectory PredictionTrajectory Prediction

  57. Search-Aided Joint Agent-Environment Reinforcement Learning for Robust Lifelong Multi-Agent Path Finding with Rotations

    Aug 6, 2026He Jiang, Jingtian Yan, Yulun Zhang +5Multi-Agent Path FindingRobot Planning

  58. Adaptive Arena-based Contestable Argumentative Network-of-Experts for Open-Ended Care Plan Coordination

    Aug 5, 2026Truong Thanh Hung Nguyen, Hoang-Loc Cao, Phuc Ho +3Abstract ArgumentationCare

  59. Failing Gracefully: Mitigating Impact of Inevitable Robot Failures

    Aug 5, 2026Duc M. Nguyen, Saad A. Ghani, Andrew Marshall +3Robot SystemsMotion Planners

  60. CoPlan: A Trustworthy Co-Intelligence Interface for Care Planning through Role-Based Contestable Argument Graphs

    Aug 5, 2026Hung Truong Thanh Nguyen, Hélène Fournier, Piper Jackson +4CareHuman-Ai Collaboration