Robot Task Planning

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Overview

Robot task planning studies how a robot can turn an instruction or mission into ordered actions that fit its abilities, surroundings, and physical constraints. Approaches range from symbolic planners such as PDDL, behavior trees, and temporal logic to language- and vision-language models, learned skills, and world models; many combine these with motion planning or formal verification. Hierarchical plans, scene representations, and feedback-driven replanning are used across household tasks, navigation, manipulation, and assembly, with benchmarks increasingly testing long task sequences and changing environments. A central challenge is making flexible plans reliably executable: systems must ground language in physical state, recover from errors, and satisfy safety constraints without excessive computation or human intervention.

Latest papers

CardsList

242 papers45 papers in the last four weeks, up 55% on the four weeks before. 0.3% of all new papers.

  1. LOGIV: Graph-Verified Execution with Causal Local Repair for Long-Horizon Robot Tasks

    Oct 29, 2026Enqiao Lu, Yuxiang Xie, Xingrui Yu +8Agentic AI for RoboticsRobot Task Planning

    CUHKSZ · A*STAR · NTU +4

  2. ProLoop: Progress-Aware Closed-Loop Framework via Structured State Relations for Long-Horizon Robotic Task Planning

    Oct 29, 2026Runxin Zou, Qingmiao Liang, Jiatao Zhang +5Robot Task PlanningLarge Language Model-Based Robot Planning

    Zhejiang University, Hangzhou, China

  3. CuBot-STT: Simultaneously Transport and Tighten for Lattice-type Modular Reconfiguration Robot

    Oct 29, 2026Chongxi Meng, Da Zhao, Yanmin Zhou +3Modular RoboticsRobot Motion Planning

    Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China · Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong · Department of Control Science and Engineering, Tongji University, Shanghai, China

  4. TrySee: Modular Perception-Enhanced VLM Grounding for Closed-Loop Robot Task Planning in Specialized Domains

    Oct 26, 2026Elias Hofele, Thomas Trapp, David Timmermann +3Robot Task PlanningVLMs for Robotics

    FZI Research Center for Information Technology · Machine Intelligence and Robotics Lab (MaiRo), Karlsruhe Institute for Technology (KIT)

  5. FISRF: Flexible Instructional Scaffolding Reflection Framework for Robotics Task Planning with Large Language Model

    Oct 26, 2026Qingmiao Liang, Jiatao Zhang, Runxin Zou +3Robot Task PlanningLarge Language Model-Based Robot Planning

    Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences, Hangzhou, China · Zhejiang University, Hangzhou, China

  6. Labference: Benchmarking the Reasoning-Action Connection in Robotic Laboratories

    Oct 26, 2026Shitong Liu, Jingwei Zhang, Sheng Lian +17RoboticsEmbodied Agent Benchmarks

  7. SCOPE: Scene-graph Construction Optimized by Plan Error-correction for Robot Long-term Planning Datasets

    Oct 22, 2026Chaoyue Li, Zeyu Gao, Yanfeng Lu +1Synthetic Data Generation for RoboticsRobot Task Planning

    State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences (CASIA), Beijing 100190, China. · School of Artificial Intelligence, University of Chinese Academy of Sciences (UCAS), Beijing 100049, China.

  8. Plan First, Act Later: Streaming Reasoning for Executable Memory in Robot Control

    Oct 21, 2026Qinghang Liu, Conglin Wang, Zongsheng Li +6Memory-Augmented VLMsLong-Horizon Robotic Manipulation

    Peking University · PKU-FirstMoveAI Lab · JD Logistics +2

  9. SLoSa: Small, Low-Power, and Safe Foundation Models for Robotic Task Planning

    Oct 20, 2026Weizhe Xu, Jialiang Fan, Essien Taylor +3Robot Task PlanningLarge Language Model-Based Robot Planning

    University of Notre Dame · Northwestern University

  10. EventSync: Event-Driven Memory Updates for History-Dependent Manipulation

    Oct 20, 2026Jingjiao Zhao, Dong Jing, Mingyu Cao +4Robotic ManipulationRobot Task Planning

    Renmin University of China · Beijing Academy of Artificial Intelligence · Institute of Automation, Chinese Academy of Sciences

  11. Visual Task Modeling and Automated Planning for Humanoid Robots in Education of Individuals with Autism Spectrum Disorder

    Oct 19, 2026Lada KudláčkováRobot Task PlanningAssistive Robotics

    Department of Theoretical Computer Science and Mathematical Logic Charles University, Faculty of Mathematics and Physics Prague, Czech Republic

  12. Replan for Error Recovery: Training Embodied VLMs through Verifiable Interaction with Action-Grouped Turn-GSPO

    Oct 19, 2026Zhuoran Wang, Keqing Fan, Yang Li +6VLMs for RoboticsRobot Task Planning

    School of Information, Renmin University of China · Key Laboratory of Data Engineering and Knowledge Engineering, Beijing, China · Beihang University +2

  13. TESS: LLM-guided Translation, Exploration, Simulation, and Search for Embodied Task Planning

    Oct 19, 2026Peiran Xu, Yixiang Yang, Jinghan Li +4Robot Task PlanningLLM Planning

    Peking University · China Tower

  14. HAVANA: A Hierarchical Video-Action Model for Vision-Language Navigation

    Oct 16, 2026Dongzhihan Wang, Yi Du, Chen Wang +2Vision-Language NavigationVisual Robot Navigation

    Tongji University · SAIR Lab · Shanghai University

  15. Hierarchical Building-Floo-Room Framework for Privacy-Preserving Autonomous Delivery in Large-Scale Buildings

    Oct 15, 2026Xu Xiaoji, Luo Rui, Chen Jinhua +3Robot Task PlanningRobotics

    Division of Integrative Systems and Design, Hong Kong University of Science and Technology, Hong Kong, China · Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China · Hong Kong University of Science and Technology, Hong Kong, China

  16. MUCO: A Mani-Unit-Structured Manipulation Framework for Compositional Long-Horizon Robot Tasks

    Oct 14, 2026Xiangyi Wei, Hanzhe Yao, Jingwen Shang +3Long-Horizon Robotic ManipulationRobotic Manipulation

    School of Computer Science and Technology, East China Normal University, Shanghai 200062, China

  17. RoboSpan: Learning Modular Coordination Policies for High-DoF Whole-Body Mobile Manipulation with Teleoperation

    Oct 14, 2026Keqiang Ren, Xuecheng Ye, Hanyu Liu +6Whole-Body Robotic ManipulationLong-Horizon Robotic Manipulation

    Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China.

  18. Dual-arm Cooperation for Tabletop Wiping with Temporal Object Removal

    Oct 14, 2026Pengqi Zhang, Longchang Yu, Daohan Li +2Robot Task PlanningMotion Planning

    School of Automation Science and Electrical Engineering, Beihang University · Beijing Institute for General Artificial Intelligence (BIGAI) · Delta Intelligence +1

  19. Probabilistic Physics Digital Twin for Human-Robot Interaction

    Oct 14, 2026Yushen Hu, Harshvardhan Chandirasekar, Apurv Kushwaha +2Digital TwinsRobotics Simulation

    University of Minnesota, USA · Howard University, USA

  20. MIND: Instruction-Conditioned Incremental Grounding for Robots

    Oct 13, 2026Mohamed Abouagour, Junhyun Nam, Wonse Jo +1Incremental ComputationLanguage-Conditioned Robot Planning

    Indiana University Bloomington, USA. · Incheon National University, Republic of Korea.

  21. APTree: Extended Behavior Trees for Adaptive and Scalable Automated Robotic Task Planning in Construction

    Oct 13, 2026Shermin Sherkat, Thomas Wortmann, Andreas WortmannRobot Task PlanningRobotic Construction

    Institute for Computational Design and Construction, Department for Computing in Architecture (ICD/CA), University of Stuttgart, Keplerstraße 11, Stuttgart, 70174, Germany · Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW), University of Stuttgart, Seidenstraße 36, Stuttgart, 70174, Germany

  22. Let the Mind Conceive, Let the Hand Achieve: Following Multimodal Instructions for Long-Horizon Robotic Manipulation

    Oct 13, 2026Youpeng Wen, Gang Wang, Tianyu Huang +5Long-Horizon Robotic ManipulationRobot Task Planning

    The Chinese University of Hong Kong · Xiaomi Corporation · National University of Defense Technology

  23. LADDER: A Long-Horizon Robot Manipulation Benchmark

    Oct 13, 2026Petko Petkov, Giuliano Albanese, Nikolay Nikolov +3Long-Horizon Robotic ManipulationRobot Manipulation Benchmarks

    INSAIT, Sofia University “St. Kliment Ohridski” · NVIDIA

  24. Evaluating Long-Horizon Robot Planning under Uncertainty

    Oct 12, 2026Harsh Muriki, Gayathri Aravindan, Yuchen Zheng +1Robot Task PlanningLong-Horizon Agent Evaluation

    Georgia Institute of Technology, Atlanta, GA, USA

  25. CoPlanVLM: Coordinated Path Planning for a Robot Team using Vision Language Models

    Oct 9, 2026David R. Martin, Jared Paquet, Mohammad Abdullah Al Faruque +4Robot Task PlanningMulti-Robot Motion Planning

    Department of Electrical Engineering and Computer Science, University of California, Irvine · Department of Mechanical and Aerospace Engineering at the University of Florida · Torch Technologies, LLC in Shalimar, FL +1

  26. PILOT: Guiding Long-Horizon World-Model Planning for Robot Manipulation with Visual Subgoals and Policy Priors

    Oct 9, 2026Yang Liu, Hanchen Cui, Karthik DesinghLong-Horizon Robotic ManipulationRobot Task Planning

    The authors are with the Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN 55455, USA.

  27. Embodied Zero-Shot Task Planning via Hardware-Aware LLM-VLM Integration for Grounded Robotic Manipulation

    Oct 8, 2026Lonnie Tankersley, Noorbakhsh Amiri Golilarz, Soroush KorivandRobotic ManipulationRobot Task Planning

    dept. of Aerospace Engineering, Mississippi State University, Starkville, MS · dept. of Computer Science, The University of Alabama, Tuscaloosa, AL · dept. of Mechanical Engineering, Mississippi State University, Starkville, MS

  28. Instance-anchored interaction evidence: Grounding robot plans in human pointing and handling

    Oct 8, 2026Xinliang Xiao, Bowen Yang, Wenjing Zhang +2Visual Grounding for RoboticsRobot Task Planning

    Nanjing University of Science and Technology, Nanjing, 210094, China

  29. SafeInferCom: Safe Inference-Time Compute via Verifier-Guided Mid-Generation Intervention for Robotic Task Planning

    Oct 8, 2026Weizhe Xu, Jialiang Fan, Mengyu Liu +1Large Language Model-Based Robot PlanningInference-Time Guidance

    University of Notre Dame · Washington State University

  30. iAm.md: Robot Skill Self-Assessment through Agentic Introspection for Unknown Open-Vocabulary Domains

    Oct 7, 2026Vincenzo Guarino, Emanuele Musumeci, Vincenzo Suriani +1Open-Vocabulary Semantic MappingAgentic AI for Robotics

    Department of Computer, Control and Management Engineering “Antonio Ruberti”, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy