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

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

  1. Bilevel Planning with Learned Symbolic Abstractions from Interaction Data

    Mar 9, 2026Fatih Dogangun, Burcu Kilic, Serdar Bahar +1Hierarchical PlanningSymbolic Planning

    Department of Computer Engineering, Bogazici University, Istanbul, Türkiye. · Department of Computer Engineering, Middle East Technical University, Ankara, Türkiye.

  2. MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation

    Mar 9, 2026Chenxu Li, Zixuan Chen, Yetao Li +5Long-Horizon Robotic ManipulationMobile Manipulation

    All authors are with Nanjing University, China.

  3. Long-Short Term Agents for Pure-Vision Bronchoscopy Robotic Autonomy

    Mar 9, 2026Junyang Wu, Mingyi Luo, Fangfang Xie +7Robot NavigationRobotic Endoscopy

    Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China. · Shanghai Chest Hospital, Shanghai, 10587, China.

  4. Knowing When to Ask: Resolving Uncertainty in Human-Robot Joint Planning via Explicit Dialogue and Implicit Intent Cues

    Mar 8, 2026Zeyu Fang, Yuxin Lin, Cheng Liu +6Human-Robot CollaborationRobot Task Planning

    Department of Electrical and Computer Engineering, George Washington University · the Department of Electrical and Computer Engineering, Northeastern University · the Department of Mechanical and Aerospace Engineering, George Washington University

  5. Unified Learning of Temporal Task Structure and Action Timing for Bimanual Robot Manipulation

    Mar 6, 2026Christian Dreher, Patrick Dormanns, Andre Meixner +1Bimanual Robotic ManipulationTemporal Reasoning

    Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany

  6. STL-SVPIO: Signal Temporal Logic guided Stein Variational Path Integral Optimization

    Mar 6, 2026Hongrui Zheng, Zirui Zang, Ahmad Amine +2STL Motion PlanningTrajectory Optimization

    Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA. · Mechanical Engineering and Mechanics Department, Lehigh University, Bethlehem, PA, USA.

  7. OmniPlanner: Universal Exploration and Inspection Path Planning Across Robot Morphologies

    Mar 4, 2026Angelos Zacharia, Mihir Dharmadhikari, Mohit Singh +1Robotic InspectionRobot Task Planning

    Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), 7034 Trondheim, Norway

  8. Retrieval-Augmented Robots via Retrieve-Reason-Act

    Mar 3, 2026Izat Temiraliev, Diji Yang, Yi ZhangRoboticsRobot Task Planning

    University of California, Santa Cruz Santa Cruz, California, USA

  9. IMR-LLM: Industrial Multi-Robot Task Planning and Program Generation using Large Language Models

    Mar 3, 2026Xiangyu Su, Juzhan Xu, Oliver van Kaick +2Robot Task PlanningLarge Language Model-Based Robot Planning

    Shenzhen University. · SpeedBot Robotics Co., Ltd. · Carleton University. +1

  10. Planning Method for Skill-Based Control of Robots Using a PLC as Skill Trigger

    Feb 28, 2026Andreas Gaugenrieder, Hari Hara Balasubramaniam, Jannik Möhrle +1Robotic ControlRobot Task Planning

    Fraunhofer Institute for Casting, Composite and Processing Technology IGCV · Fraunhofer Institute for Casting, Composite and Processing Technology IGCV, Am Technologiezentrum 10, 86159 Augsburg, Germany · Institute for Machine Tools and Industrial Management, Technical University of Munich +1

  11. 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

  12. Enhancing Cellular-enabled Collaborative Robots Planning through GNSS data for SAR Scenarios

    Feb 25, 2026Arnau Romero, Carmen Delgado, Jana Baguer +2Search-and-Rescue RoboticsRobot Task Planning

    AI-driven Systems, i2CAT Foundation, Barcelona, Spain · Universitat Politècnica de Catalunya, UPC, Barcelona, Spain · Pompeu Fabra University, UPF, Barcelona, Spain +2

  13. 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

  14. NovaPlan: Zero-Shot Long-Horizon Manipulation via Closed-Loop Video Language Planning

    Feb 23, 2026Jiahui Fu, Junyu Nan, Lingfeng Sun +7Long-Horizon Robotic ManipulationZero-Shot Robotic Manipulation

    Robotics and AI Institute · Carnegie Mellon University · Brown University +1

  15. 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

  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. Scene2Demo: Self-Evolving Embodied Data Generation via Object-Action Graph

    Feb 12, 2026Xiang Liu, Sen Cui, Guocai Yao +4Robot Demonstration GenerationSynthetic Data Generation for Robotics

  18. Affordance-Aware Interactive Decision-Making and Execution for Ambiguous Instructions

    Feb 5, 2026Hengxuan Xu, Fengbo Lan, Zhixin Zhao +5RoboticsRobot Task Planning

    Department of Automation, Tsinghua University, Beijing, China · Shanghai Artificial Intelligence Laboratory, Shanghai, China · Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China +1

  19. From Instruction to Event: Sound-Triggered Mobile Manipulation

    Jan 29, 2026Hao Ju, Shaofei Huang, Hongyu Li +4Robotics SimulationMobile Robotics

    University of Macau · Beihang University · Hefei University of Technology

  20. From Perception to Symbolic Task Planning: Vision-Language Guided Human-Robot Collaborative Structured Assembly

    Jan 2, 2026Yanyi Chen, Min DengHuman-Robot CollaborationRobotic Assembly

    Department of Civil, Environmental, and Construction Engineering, Texas Tech University, Lubbock, TX 79409, USA

  21. Video Replanning via Latent Embedding Refinement and Rejection-Based Sampling

    Oct 20, 2025Po-Chen Ko, Yu Chan, Yu-Hsiang Fu +7Robot System IdentificationRobot Failure Recovery

    National Taiwan University · MIT CSAIL · Cornell University +1

  22. RoboPilot: Generalizable Dynamic Robotic Manipulation with Dual-thinking Modes

    Sep 30, 2025Xinyi Liu, Mohammadreza Fani Sani, Zewei Zhou +3Robotic ManipulationDynamic Robotic Manipulation

    Microsoft, Denmark · Technical University of Denmark · University of California, Los Angeles

  23. 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

  24. 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

  25. Real-Time Model Checking for Closed-Loop Robot Reactive Planning

    Aug 26, 2025Christopher Chandler, Bernd Porr, Giulia Lafratta +1Safe Robot NavigationFormal Verification

    Department of Electronic and Electrical Engineering, University of Strathclyde, Glasgow, Scotland, UK · School of Engineering, University of Glasgow, Glasgow, Scotland, UK · School of Computing Science, University of Glasgow, Glasgow, Scotland, UK

  26. P3\mathcal{P}^3: Toward Versatile Embodied Agents

    Aug 9, 2025Shengli Zhou, Xiangchen Wang, Jinrui Zhang +4Robot Task PlanningEmbodied AI

    Southern University of Science and Technology · Spatialtemporal AI · MBZUAI

  27. 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 PlanningMulti-Robot Coordination

    Institute for Material Handling and Logistics (IFL), Karlsruhe Institute of Technology, 76131, Germany · Bosch Corporate Research, Robert Bosch GmbH, 71272 Renningen, Germany

  28. Gondola: Grounded Vision Language Planning for Robotic Manipulation

    Jun 12, 2025Shizhe Chen, Ricardo Garcia, Paul Pacaud +1Long-Horizon Robotic ManipulationRobot Task Planning

    Inria, École normale supérieure, CNRS, PSL Research University

  29. 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)

  30. MOSAIC: Skill-Centric Manipulation Planning with Physics Simulation

    Apr 23, 2025Itamar Mishani, Yorai Shaoul, Maxim LikhachevLong-Horizon Robotic ManipulationRobot Task Planning

    Robotics Institute, School of Computer Science, Carnegie Mellon University, United States