Large Language Model-Based Robot Planning

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Overview

This field studies how robots can use large language models to interpret instructions, reason about their surroundings, and plan tasks such as navigation, manipulation, and team coordination. Common approaches combine language or vision-language models with symbolic methods such as PDDL, behavior trees, scene graphs, and temporal logic, then use robot controllers to carry out the resulting plans. Systems also use visual feedback, memory, verification, and replanning to respond to changing environments and execution failures. A central challenge is making plans reliably feasible and safe in the physical world while keeping reasoning fast and affordable.

Latest papers

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235 papers48 papers in the last four weeks, up 78% on the four weeks before. 0.3% of all new papers.

  1. From Dialogue to Execution: Mixture-of-Agents Assisted Interactive Planning for Behavior Tree-Based Long-Horizon Robot Execution

    Mar 1, 2026Kanata Suzuki, Kazuki Hori, Haruka Miyoshi +2Mixture-of-AgentsLarge Language Model-Based Robot Planning

    Waseda University, Tokyo 169-8050, Japan. · NII Research and Development Center for Large Language Models. · The Graduate University for Advanced Studies (SOKENDAI), Kanagawa 240-0193, Japan. +1

  2. SafeGen-LLM: Enhancing Safety Generalization in Task Planning for Robotic Systems

    Feb 27, 2026Jialiang Fan, Weizhe Xu, Mengyu Liu +3Formal Methods for RLLarge Language Model-Based Robot Planning

    University of Notre Dame · Washington State University · University of Pennsylvania

  3. KEEP: A KV-Cache-Centric Memory Management System for Efficient Embodied Planning

    Feb 27, 2026Zebin Yang, Tong Xie, Baotong Lu +3Agent Memory ManagementMemory-Augmented Language Models

    Institute for Artificial Intelligence · School of Integrated Circuits · Microsoft Research +2

  4. OOWM: Structuring Embodied Reasoning and Planning via Object-Oriented Programmatic World Modeling

    Feb 25, 2026Hongyu Chen, Liang Lin, Guangrun WangLarge Language Model-Based Robot PlanningWorld Models

    Sun Yat-sen University · Guangdong Key Laboratory of Big Data Analysis and Processing · X-Era AI Lab

  5. Hierarchical LLM-Based Multi-Agent Framework with Prompt Optimization for Multi-Robot Task Planning

    Feb 25, 2026Tomoya Kawabe, Rin TakanoLarge Language Model-Based Robot PlanningMulti-Agent LLM Systems

    Data Science Laboratories, NEC Corporation, 1753, Shimonumabe, Nakahara-ku, Kawasaki, Kanagawa, 211-8666, Japan.

  6. SPOC: Safety-Aware Planning Under Partial Observability And Physical Constraints

    Feb 25, 2026Hyungmin Kim, Hobeom Jeon, Dohyung Kim +2Robot Task PlanningLarge Language Model-Based Robot Planning

    ETRI School, University of Science and Technology, South Korean · Social Robotics Laboratory, Electronics and Telecommunication Research Institute, South Korea

  7. Learning from Trials and Errors: Reflective Test-Time Planning for Embodied LLMs

    Feb 24, 2026Yining Hong, Huang Huang, Manling Li +4Large Language Model-Based Robot PlanningLLM Agent Planning

    Stanford University · Northwestern University

  8. ActionReasoning: Robot Action Reasoning in 3D Space with LLM for Robotic Brick Stacking

    Feb 24, 2026Guangming Wang, Qizhen Ying, Yixiong Jing +2Robotic ManipulationLarge Language Model-Based Robot Planning

    CV4DT, CSIC, Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, U.K. · Department of Engineering, University of Oxford, Oxford, U.K.

  9. PhysMem: Scaling Test-Time Memory for Embodied Physical Reasoning

    Feb 23, 2026Haoyang Li, Yang You, Hao Su +1Memory-Augmented AgentsEmbodied Reasoning

    UC San Diego · Stanford University

  10. CoReLIN: Constraint-based Reasoning for Zero-shot Lifelong Interactive Navigation

    Feb 23, 2026Apoorva Vashisth, Manav Kulshrestha, Pranav Bakshi +3Long-Horizon Robotic ManipulationLarge Language Model-Based Robot Planning

    Purdue University · IIT Kharagpur · DEVCOM Army Research Lab +1

  11. Large Language Model-Assisted UAV Operations and Communications: A Multifaceted Survey and Tutorial

    Feb 23, 2026Yousef Emami, Hao Zhou, Radha Reddy +5Language Model-Based ControlUAV Navigation

  12. Anticipate, Adapt, Act: A Hybrid Framework for Task Planning

    Feb 23, 2026Nabanita Dash, Ayush Kaura, Shivam Singh +4Robot Task PlanningHuman-Robot Collaboration

    Robotics Research Center, IIIT Hyderabad, India · TCS Research, Tata Consultancy Services, India · School of Informatics, University of Edinburgh, UK

  13. Seeing Farther and Smarter: Value-Guided Multi-Path Reflection for VLM Policy Optimization

    Feb 22, 2026Yanting Yang, Shenyuan Gao, Qingwen Bu +2VLMs for RoboticsLarge Language Model-Based Robot Planning

    Rutgers University · The Hong Kong University of Science and Technology · The University of Hong Kong

  14. MALLVI: A Multi-Agent Framework for Integrated Generalized Robotics Manipulation

    Feb 18, 2026Mehrshad Taji, Arad Mahdinezhad Kashani, Iman Ahmadi +3Large Language Model-Based Robot PlanningRobotic Manipulation

    Department of Electrical Engineering Sharif University of Technology

  15. Replanning Human-Robot Collaborative Tasks with Vision-Language Models via Semantic and Physical Dual-Correction

    Feb 16, 2026Taichi Kato, Takuya Kiyokawa, Namiko Saito +1Language-Conditioned Robot ManipulationLarge Language Model-Based Robot Planning

    aDepartment of Systems Science, School of Engineering Science, The University of Osaka, 1-3 Machikaneyama, Toyonaka, Osaka, Japan · bDepartment of Systems Innovation, Graduate School of Engineering Science, The University of Osaka, 1-3 Machikaneyama, Toyonaka, Osaka, Japan · cMicrosoft Research Asia, Shinagawa, Tokyo, Japan +1

  16. TGPO: Trace-Guided Policy Optimization for Robot Task Planning via Verifiable Subgoal Generation

    Feb 12, 2026Zhihong Liu, Yang Li, Renming Huang +3Robot Task PlanningLarge Language Model-Based Robot Planning

    Shanghai Innovation Institute · Xi’an Jiao Tong University · Nankai University +1

  17. Demonstration-Free Robotic Control via LLM Agents

    Jan 28, 2026Brian Y. Tsui, Alan Y. Fang, Tiffany J. HwuRobotic ControlLanguage Model-Based Control

    All authors are independent researchers.

  18. Visual-Language-Guided Task Planning for Horticultural Robots

    Jan 17, 2026Jose Cuaran, Kendall Koe, Aditya Potnis +2Large Language Model-Based Robot PlanningVision-Language Grounding

    The Siebel School of Computing and Data Science, University of Illinois, Urbana-Champaign · National Center for Supercomputing Applications at University of Illinois, Urbana-Champaign · The Department of Agricultural and Biological Engineering, University of Illinois, Urbana-Champaign

  19. Prompting Robot Teams with Natural Language

    Sep 29, 2025Eduardo Sebastián, Nicolas Pfitzer, Ajay Shankar +1Large Language Model-Based Robot PlanningMulti-Robot Coordination

    Department of Computer Science and Technology, University of Cambridge, UK · Department of Mechanical and Process Engineering, ETH Zurich, Switzerland

  20. Self-CriTeach: LLM Self-Teaching and Self-Critiquing for Improving Robotic Planning via Automated Domain Generation

    Sep 25, 2025Jinbang Huang, Zhiyuan Li, Yuanzhao Hu +4Large Language Model-Based Robot PlanningSynthetic Data Generation for Robotics

    Huawei Noah’s Ark Lab · University of Toronto · University of British Columbia +1

  21. IDfRA: Self-Verification for Iterative Design in Robotic Assembly

    Sep 21, 2025Nishka Khendry, Christos Margadji, Sebastian W. PattinsonRobotic AssemblyRobot Task Planning

    Institute for Manufacturing, Department of Engineering, University of Cambridge

  22. ViPlan: A Benchmark for Visual Planning with Symbolic Predicates and Vision-Language Models

    May 19, 2025Matteo Merler, Nicola Dainese, Minttu Alakuijala +5Large Language Model-Based Robot PlanningSymbolic Planning

    Fondazione Bruno Kessler · Department of Computer Science, Aalto University · Department of Mathematics, Università degli Studi di Padova

  23. MuTRAP: Multi-trigger Trojans Attacking Robot Task Planning Systems

    Apr 23, 2025Mohaiminul Al Nahian, Zainab Altaweel, David Reitano +3LLM Backdoor AttacksLarge Language Model-Based Robot Planning

    Binghamton University (SUNY)

  24. Easier Said Than Done: Unpacking Intent-Behavior Gap in Jailbreaking LLM-Based Robots

    Dec 21, 2024Xuancun Lu, Zhengxian Huang, Xinfeng Li +3Large Language Model-Based Robot PlanningAdversarial Attacks on LLMs

    Zhejiang University

  25. CLMASP: Coupling Large Language Models with Answer Set Programming for Robotic Task Planning

    Jun 5, 2024Xinrui Lin, Yangfan Wu, Huanyu Yang +3Large Language Model-Based Robot PlanningRobot Task Planning

    University of Science and Technology of China, China · Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, China