Long-Horizon Planning

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Momentum

7 papers in the last four weeks, against 1 the four weeks before. 0.1% of all new papers.

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  1. Learning to Plan from Random Exploration

    Sep 29, 2026Deqian Kong, Guangyan Sun, Sheng Cheng +6Long-Horizon PlanningStochastic Exploration

    UCLA · University of Minnesota · Amazon AGI +3

  2. Beyond a single latent space: a dual-latent world model for long-horizon planning

    Sep 29, 2026Delin Zhao, Zhengrong Yue, Shaobin Zhuang +6Latent World ModelsLong-Horizon Planning

    Nanjing University · Shenzhen University of Advanced Technology · Shanghai Jiao Tong University +1

  3. PanoVLN: Towards Effective Panoramic Vision-and-Language Navigation

    Sep 28, 2026Zhen Wang, Changpeng Wang, Zhe Liu +5Vision-Language NavigationRecent Vision-Language Models

    Zhejiang University · The University of Hong Kong

  4. MomWorld: Momentum-Aware Latent World Model for Long-Horizon Autonomous Driving

    Sep 27, 2026Ziying Song, Shengkai Zhang, Lei Yang +6Long-Horizon PlanningLatent World Models

    Nanyang Technological University · Beijing Jiaotong University · North University of China +2

  5. ADM-Planner: LLM-Guided Long-Horizon Planning for Mobile Manipulators with Attention-Enhanced Dynamic Memory

    Sep 24, 2026Jiaping Xiao, Pingyuan Ji, Mir FeroskhanLong-Horizon PlanningPlanner Agent

    School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore

  6. EmbodiedMind: Adaptive Data Curation and Prefix-Tree Reinforcement Learning for Efficient Embodied Intelligence

    Sep 17, 2026Feifan Wang, Zongbing Zhang, Yu Zhang +8Offline Reinforcement LearningLong-Horizon Planning

    ZTE Corporation, Shenzhen, China

  7. Visual Cue Guided Video Planning for Generalizable Robot Navigation

    Sep 15, 2026Hojin Lee, Sizhe Lester Li, Maximilian Hilger +4Object Goal NavigationRobot Navigation

    Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, 80797 Munich, Germany. · Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA 02139, USA. · Centre for Applied Autonomous Sensor Systems (AASS), Örebro University, 72081 Örebro, Sweden.

  8. MomADv2: Reliable Temporal Memory for End-to-End Autonomous Driving

    Aug 24, 2026Ziying Song, Shengkai Zhang, Lin Liu +8Causality-Aware End-To-End Autonomous DrivingAutonomous Driving

    School of Artificial Intelligence (School of Software), Yanshan University · Beijing Jiaotong University · Nanyang Technological University +5

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

    Aug 9, 2026Servet B. Bayraktar, Andreas Orthey, Zachary Kingston +1Collision-Free TrajectoriesRobotic Manipulator

  10. GraphThink: Graph-Enhanced LLM Thinking for Long-Horizon Embodied Task Planning

    Aug 8, 2026Chen Li, Sijie Cheng, Yuelin Zhang +4Long-Horizon PlanningEmbodied Agents

    Gaoling School of Artificial Intelligence, Renmin University of China, Beijing, China · Beijing Key Laboratory of Research on Large Models and Intelligent Governance, Beijing, China · Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China +3

  11. Scalable Long-Horizon Planning with Staggered Updates for Lifelong MAPF

    Aug 7, 2026Vaibhav Sanjay, Jiaoyang LiMulti-Agent Path FindingLong-Horizon Planning

    Robotics Institute, Carnegie Mellon University

  12. From Passive Mirrors to Active Agents: Holonic Digital Twins for Physical AI over Networks

    Aug 6, 2026Christo Kurisummoottil Thomas, Omar Hashash, Walid SaadDigital TwinsArtificial Intelligence Systems

    Department of Electrical and Computer Engineering, Worcester Polytechnic Institute, Worcester, MA, USA · Bradley Department of Electrical and Computer Engineering, Virginia Tech, Alexandria, VA, USA

  13. Explicit Language Memory for Long-Horizon Planning in Vision-Language-Action Models

    Aug 5, 2026Houze Xu, Jizhong Li, Ziyi YeDiffusion-Based Vision-Language-ActionsLong-Horizon Planning

    Fudan University

  14. Intertemporal Preference Steering in Qwen3 via Contrastive Activation Addition

    Aug 4, 2026Michal Mráz, Justin ShenkLinear Activation SteeringLong-Horizon Planning

    1Independent

  15. ActSWM: Action-Sensitive World Models for Long-Horizon Planning in Open-World Games

    Jul 29, 2026Zhenfeng Gan, ZiTong Zeng, Jiajun Cheng +3Latent World ModelsLong-Horizon Planning

  16. The Physics of Multi-Turn Long-Horizon Planning: From Pre-training to Post-training via Single- and Multi-Teacher On-Policy Agentic Distillation

    Jul 27, 2026Tianyi Men, Zhuoran Jin, Kang Liu +1Long-Horizon PlanningPost-Training

    The Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China

  17. RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning

    Jul 20, 2026Jinbang Huang, Zhiyuan Li, Yuanzhao Hu +6Robot PoliciesLong-Horizon Planning

    Huawei Noah’s Ark Lab · University of Toronto · University of British Columbia +2

  18. SAGE: Subgoal-Conditioned Action Generation for Latent World Model Planning

    Jul 20, 2026Letian Cheng, Qi Zhang, Yisen WangAction-Conditioned PlanningHigh-Level Subgoal Generation

    Peking University

  19. Reward-Driven LLM Agent Workflows: Synthesizing POMDP Routing and Self-Correction for Autonomous Decision-Making

    Jul 19, 2026Amez Amanj Ali, Kuo-Kun TsengAgentic Reinforcement LearningLarge Language Model Workflows

    School of Computer Science and Technology Harbin Institute of Technology, Shenzhen

  20. Mind the Gap: Promises and Pitfalls of Hierarchical Planning in LeWorldModel

    Jul 14, 2026Niccolò Caselli, Francesco Massafra, Samuele Punzo +3Long-Horizon PlanningHigh-Level Subgoal Generation

    University of Amsterdam

  21. APIVOT: Adaptive Planning with Interleaved Vision-Language Thoughts

    Jul 9, 2026Emily Jin, Joy Hsu, Yiqing Xu +3Long-Horizon PlanningPlanning

    Stanford University

  22. Multi-Agent Robotic Control with Onboard Vision-Language Models

    Jul 8, 2026Kajetan Rachwał, Maciej Majek, Bartłomiej Boczek +6Diffusion-Based Vision-Language-ActionsMulti-Robot Systems

    Robotec.AI, Warsaw, Poland · Liquid.AI, Cambridge, Massachusetts, USA · Faculty of Mathematics and Information Science, Warsaw University of Technology, Warsaw, Poland

  23. Hierarchical 3D Scene Graph Construction and Belief-based Planning for Semantic Navigation

    Jun 30, 2026Bing Wu, Zuyao Chen, Changwen ChenVision-Language NavigationLong-Horizon Planning

    The Hong Kong Polytechnic University

  24. Towards Reliable and Robust LLM Planning: Symbolic Feedback-Driven Iterative Self-Refinement Framework

    Jun 26, 2026Jiajing Zhang, Jiamei Jiang, Chenyang Zhang +3Large Language Model PlanningLong-Horizon Planning

    State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China · School of Industry-education Integration, University of Chinese Academy of Sciences, Beijing, China

  25. World Models in Pieces: Structural Certification for General Agents

    Jun 23, 2026Yikai Lu, Yifei Wu, Xinyu Lu +1World Model PlanningWorld Models

    School of Data Science, The Chinese University of Hong Kong, Shenzhen, Shenzhen, China.

  26. SCOPE: Evolving Symbolic World for Planning in Open-Ended Environments

    Jun 21, 2026Yundaichuan Zhan, Minghe Gao, Zhongqi Yue +7Classical PlanningLong-Horizon Planning

    Zhejiang University, Hangzhou, China · Chalmers University of Technology, Gothenburg, Sweden · Lanzhou University, Lanzhou, China

  27. PlanBench-XL: Evaluating Long-Horizon Planning of LLM Tool-Use Agents in Large-Scale Tool Ecosystems

    Jun 21, 2026Jiayu Liu, Qihan Lin, Cheng Qian +8Large Language Model PlanningLarge Language Model Agents

    University of Illinois Urbana-Champaign

  28. Beyond the Next Step: Variable-Length Latent World Models for Long-Horizon Planning

    Jun 19, 2026Tianqi Du, Qi Zhang, Yifei Wang +1Latent World ModelsLong-Horizon Planning

    State Key Lab of General Artificial Intelligence, School of Intelligence Science and Technology, Peking University · Amazon AGI SF Lab · Institute for Artificial Intelligence, Peking University

  29. Vesta: A Generalist Embodied Reasoning Model

    Jun 18, 2026Johan Bjorck, Zhiqi Li, Yunze Man +29Spatial ReasoningRobot State

    Co-first authors (alphabetical order). · University of Illinois Urbana-Champaign · Core authors (alphabetical order). +8

  30. GraphWorld: Long-Horizon Planning with World Models for End-to-End Autonomous Driving

    Jun 15, 2026Ziying Song, Caiyan Jia, Lin Liu +8Causality-Aware End-To-End Autonomous DrivingAutonomous Driving

    Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence, School of Computer Science and Technology, Beijing Jiaotong University, Beijing, China

  31. ContactWorld: What Representations Matter for Vision-Tactile Latent World Models in Contact-Rich Manipulation

    Jun 11, 2026Zhiyuan Zhang, Pokuang Zhou, Kaidi Zhang +7Tactile World ModelWorld Models

    Department of Industrial Engineering, Purdue University, West Lafayette, IN 47907, USA · Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843, USA

  32. A Tutorial on World Models and Physical AI

    Jun 11, 2026Il-Seok OhWorld ModelsArtificial Intelligence Systems

    Department of Computer Science and Artificial Intelligence/CAIIT, Jeonju, Jeonbuk, South Korea

  33. SpatialWorld: Benchmarking Interactive Spatial Reasoning of Multimodal Agents in Real-World Tasks

    Jun 8, 2026Hongcheng Gao, Hailong Qu, Jingyi Tang +18Spatial ReasoningMultimodal Agents

    Tsinghua University · Chongqing University · Peking University +6

  34. FF-JEPA: Long-Horizon Planning in World Models with Latent Planners

    Jun 8, 2026Sergi Masip, Jonathan Swinnen, Yutong Hu +2Long-Horizon PlanningLow-Latency Latent Planning

    PSI, ESAT, KU Leuven · RAM, MECH, KU Leuven

  35. Neuro-Symbolic Learning for Long-Horizon Task Planning Under Complex Logical Constraints

    Jun 5, 2026Qiwei Du, Zitong Zhan, Shaoshu Su +7Classical PlanningNeuro-Symbolic Framework

    Spatial AI & Robotics (SAIR) Lab, University at Buffalo, NY 14260 · Robotics Institute, Carnegie Mellon University, PA 15213

  36. ChronoForest: Closed-Loop Multi-Tree Diffusion Planning for Efficient Bridge Search and Route Composition

    Jun 4, 2026Jungmin Seo, Jaesik ParkDiffusion PlanningLong-Horizon Planning

    Seoul National University Seoul, South Korea

  37. When to Re-Plan: Subgoal Persistence in Hierarchical Latent Reasoning

    Jun 2, 2026Ayushi ChadhaEfficient Latent ReasoningLong-Horizon Planning

    Independent Researcher, India.

  38. EvoMemNav: Efficient Self-Evolving Fine-Grained Memory for Zero-Shot Embodied Navigation

    Jun 2, 2026Zuhao Ge, Xiaosong Jia, Chao Wu +3Vision-Language NavigationSpatial Memory

    Institute of Trustworthy Embodied AI (TEAI), Fudan University · 2Shanghai Key Laboratory of Multimodal Embodied AI

  39. SSR: Scaling Surefooted and Symmetric Humanoid Traversal to the Open World

    May 29, 2026Ruiqi Yu, Yiwen Wang, Yuan Hao +2Agile LocomotionKinematic Priors

    Zhejiang University

  40. The Long-Term Effects of Data Selection in LLM Fine-Tuning

    May 28, 2026Yuxin Yang, Aoxiong Zeng, Xiangquan YangLarge Language Model Fine-TuningModel Fine-Tuning

    Shanghai University · East China Normal University

  41. Latent Goal Prediction from Language for Model-Based Planning

    May 26, 2026Samuel Barbeau, Simon Roy, Giovanni Beltrame +2Long-Horizon PlanningLatent World Models

    1École de Technologie Supérieure, Montréal · 2International Laboratory on Learning Systems (ILLS) · 3Polytechnique Montréal +4

  42. Learning with Foresight: Enhancing Neural Routing Policy via Multi-Node Lookahead Prediction

    May 19, 2026Xia Jiang, Yaoxin Wu, Yew-Soon Ong +1Neural PoliciesLong-Horizon Planning

    Eindhoven University of Technology · Nanyang Technological University · Agency for Science, Technology and Research (A*STAR)

  43. Visual Sculpting: Visually-Aligned Planning Representations for Long-Horizon Robot Clay Sculpting

    May 17, 2026Peter Schaldenbrand, Jean OhDeformable Linear ObjectsLong-Horizon Planning

    1The Robotics Institute, Carnegie Mellon University · 2Lavoro AI Research

  44. Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planning

    May 16, 2026Yaniv Hassidof, Adir Morgan, Yilun Du +1Diffusion PlanningLong-Horizon Planning

    Technion · Harvard

  45. Learning Bilevel Policies over Symbolic World Models for Long-Horizon Planning

    May 15, 2026Dillon Z. Chen, Till Hofmann, Toryn Q. Klassen +1Long-Horizon PlanningImitation Learning

    1Vector Institute · University of Toronto · 3LAAS-CNRS +2

  46. When Robots Do the Chores: A Benchmark and Agent for Long-Horizon Household Task Execution

    May 14, 2026Zilin Zhu, Longteng Guo, Yanghong Mei +5Long-Horizon PlanningLong-Horizon Task Planning

    Institute of Automation, Chinese Academy of Sciences, Beijing, China · Zhongguancun Academy, Beijing, China · University of Chinese Academy of Sciences, Beijing, China

  47. ELVIS: Ensemble-Calibrated Latent Imagination for Long-Horizon Visual MPC

    May 6, 2026Yurui Du, Pinhao Song, Yutong Hu +1Long-Horizon PlanningModel-Based Reinforcement Learning

    KU Leuven, Dept. Electrical Engineering, Research unit Processing Speech and Images, B-3000 Leuven, Belgium · Flanders Make at KU Leuven, B-3000 Leuven, Belgium · KU Leuven, Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, B-3000 Leuven, Belgium

  48. Refining Compositional Diffusion for Reliable Long-Horizon Planning

    May 4, 2026Kyowoon Lee, Yunhao Luo, Anh Tong +1Diffusion PlanningLong-Horizon Planning

    KAIST · University of Michigan · Korea University +1

  49. Planner Matters! An Efficient and Unbalanced Multi-agent Collaboration Framework for Long-horizon Planning

    May 4, 2026Wenyi Wu, Sibo Zhu, Kun Zhou +1Long-Horizon PlanningLong-Horizon Agents

    University of California, San Diego

  50. TRAP: Tail-aware Ranking Attack for World-Model Planning

    May 3, 2026Siyuan Duan, Ke Zhang, Xizhao LuoWorld Model PlanningLong-Horizon Planning

    Department of Computer Science and Technology, Soochow University Suzhou, China

  51. Anticipation-VLA: Solving Long-Horizon Embodied Tasks via Anticipation-based Subgoal Generation

    May 3, 2026Zhilong Zhang, Wenyu Luo, Haonan Wang +9Generalizable Vision-Language-Action PoliciesLong-Horizon Planning

    National Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China · School of Artificial Intelligence, Nanjing University, Nanjing, China · Department of Foundation model, 2012 Labs, Huawei

  52. Lifting Traces to Logic: Programmatic Skill Induction with Neuro-Symbolic Learning for Long-Horizon Agentic Tasks

    May 2, 2026Jie-Jing Shao, Haiyan Yin, Yueming Lyu +5Long-Horizon AgentsNeuro-Symbolic Framework

    State Key Laboratory of Novel Software Technology, Nanjing University, China · Centre for Frontier AI Research, and Institute of High Performance Computing, Agency for Science, Technology and Research, Singapore · School of Intelligence Science and Technology, Nanjing University, China +2

  53. Walk With Me: Long-Horizon Social Navigation for Human-Centric Outdoor Assistance

    Apr 29, 2026Lingfeng Zhang, Xiaoshuai Hao, Xizhou Bu +11Long-Horizon PlanningGeneralizable Vision-Language-Action Policies

    Tsinghua University · Pengcheng Laboratory · Xiaomi EV +5

  54. PhGPO: Pheromone-Guided Policy Optimization for Long-Horizon Tool Planning

    Feb 14, 2026Yu Li, Guangfeng Cai, Shengtian Yang +5Long-Horizon PlanningFrictive Policy Optimization

    School of Computer Science and Engineering, Southeast University, Nanjing, China · Huawei Noah’s Ark Lab, China

  55. Temporal Cascading of Planning and Control for Quadrotor MPC

    Dec 13, 2025Rudolf Reiter, Chao Qin, Leonard Bauersfeld +1QuadrotorModel Predictive Control

    Robotics and Perception Group, Department of Informatics, University of Zurich, Andreasstrasse 15, 8050 Zurich, Switzerland · Institute for Aerospace Studies, University of Toronto, 4925 Dufferin Street, Toronto, ON M3H 5T6, Canada

  56. LHM-Humanoid: Long-Horizon Human Motion Control for Continuous Object Transport in Cluttered Scenes

    Aug 23, 2025Haozhuo Zhang, Jingkai Sun, Michele Caprio +5Full-Body Humanoid ControlGoal-Conditioned Value Function

    The University of Manchester, Manchester, UK · X-Humanoid, Beijing, China · University of Hong Kong, Hong Kong, China +1