Robot Planning

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

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  1. Risk-Aware Semantic Grounding for Trustworthy LLM-Based Robot Planning

    Sep 29, 2026Łukasz Sobczak, Nur Keleşoğlu, Sławomir Piotr NowakRobot PlanningLarge Language Model Planning

    Institute of Theoretical and Applied Informatics, Polish Academy of Sciences, Gliwice 44-100, Poland

  2. EMPIRIC: Experiment-Driven Learning of Residual World Models for Robot Planning

    Sep 28, 2026Yichao Liang, Amber Li, Dat Nguyen +13Scalable Robot LearningRobot Planning

    Basis Research Institute · University of Cambridge · Carnegie Mellon University +6

  3. Bayesian Active Learning for Intent Disambiguation in Interactive Robot Planning

    Sep 28, 2026Huao Li, Carson Sobolewski, Augustinos Saravanos +3Robot PlanningAgentic Reasoning

    Massachusetts Institute of Technology, Cambridge, MA, USA · GE Vernova

  4. Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations

    Sep 20, 2026Zhiquan Zhang, Melkior OrnikRobot PlanningPath Planning

    University of Illinois Urbana-Champaign, IL, 61801 USA

  5. Receding-Horizon Pushing with Composable Object-Centric Policies

    Sep 20, 2026Zhiyi Yuan, Tianrun Hu, Anxing Xiao +3Real-World Manipulation TasksRobot Planning

    School of Computing and Smart Systems Institute, National University of Singapore, Singapore · Shanghai Innovation Institute, Shanghai, China

  6. Navigate or Relocate? Planning Among Movable Obstacles in Unknown Environments

    Sep 17, 2026Yuqing Zhang, Haoyu Zhu, Yiannis KantarosRobot PlanningMotion Planning

    Department of Electrical and Systems Engineering, Washington University in St. Louis, St. Louis, MO, USA

  7. SPROUT: The Open-Source Soft Growing Robot for Search and Rescue

    Sep 15, 2026Antonio Alvarez Valdivia, Ciera McFarland, Robert Reeve +5Soft RoboticsRobot Systems

    Lincoln Laboratory, Massachusetts Institute of Technology, Lexington, Massachusetts, USA · University of Notre Dame, Notre Dame, Indiana, USA · Stanford University, Stanford, California, USA

  8. CAD-Based Relation Learning and Geometric-Symbolic Planning for Robotic Assembly

    Sep 15, 2026Fabian Harlacher, Christian FriedrichAssemblyParametric Computer-Aided Design Programs

    Institute for Robotics and Intelligent Production Systems, Karlsruhe University of Applied Sciences (HKA), Moltkestraße 30, Karlsruhe, 76133, Baden-Württemberg, Germany

  9. Legislating World-Model-Based Planning with Legal Reasoning

    Sep 14, 2026Dylan Waldner, Yiannis Kantaros, Guido Governatori +2Robot PlanningSocial Norms

    Cognizant AI Lab, USA · Department of Electrical & Systems Engineering, Washington University, USA · School of Engineering and Technology, Central Queensland University, Australia +1

  10. DUET-DINO: Simultaneous Cross-View World Modeling for Latent Planning in Robot Manipulation

    Sep 9, 2026Nisarga Nilavadi, Ralf Römer, Moritz Reuss +5Robotic ManipulationLatent World Models

    Artificial Intelligence and Robotics Lab, University of Technology Nuremberg (UTN), Germany. · Learning Systems and Robotics Lab, Technical University of Munich (TUM), Germany. · Intuitive Robots Lab, Karlsruhe Institute of Technology (KIT), Germany. +2

  11. Toward Physically Grounded JEPA World Models for Goal-Conditioned Robotic Planning

    Sep 3, 2026Muyuan Liu, Yue Huang, Zheng Liang +1Inverse DynamicsRobot Planning

    GENISOM AI, Beijing, China

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

    Aug 7, 2026Felipe Bartelt, Ali Umut Kaypak, Anthony Tzes +3Continuous Distance FieldDistance

  13. Approximate Multi-Objective Search Under Rulebooks

    Aug 5, 2026Omar Muhammetkulyyev, Oren Salzman, Tichakorn WongpiromsarnMetaheuristicsSearch Algorithms

    Iowa State University, Ames IA 50010, USA · Technion - Israel Institute of Technology, Haifa 3200003, Israel

  14. Receding-Horizon Next-Best-View Planner for Autonomous Leaf Surface Reconstruction

    Jul 31, 2026Arif Ahmed, Sajal K. Das, Parikshit MainiSurface ReconstructionPoint Clouds

    Systems and Algorithms for Robot Autonomy Lab (SARAL), Dept. of Computer Science and Engineering, University of Nevada, Reno, USA. · Department of Computer Science, Missouri University of Science and Technology, Missouri, USA.

  15. World Action Planner: Generalizable Decision-Making with Action-Conditioned World Models

    Jul 30, 2026Xiangcheng Zhang, Yilun DuEfficient World-Action ModelWorld Model Planning

    Harvard University

  16. ContactFlow: A video action conditioning that transfers across embodiments

    Jul 29, 2026Sami Azirar, Enrico Pallotta, Jan Nogga +3Real-World Manipulation TasksEfficient World-Action Model

    University of Bonn, Lamarr Institute

  17. Socially Consistent Multi-Robot Navigation Using Decoupled Planning and Trajectory Coordination

    Jul 22, 2026Matthew M. Sato, Kincho H. LawMulti-Robot Motion PlanningRobot Planning

    Engineering Informatics Group Department of Civil and Environmental Engineering Stanford University Stanford, CA 94305

  18. D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions

    Jul 12, 2026Erdi Sayar, Ersin Daş, Joel W. Burdick +2Model Predictive ControlDiffusion Planning

    Department of Electrical Engineering and Information Technology, Paderborn University, 33098 Paderborn, Germany · Department of Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, Chicago, IL 60616, USA · Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA 91125, USA +1

  19. Coverage Path Planning: Classical Foundations, Recent Advances, and Future Directions

    Jul 12, 2026Zongyuan Shen, Shalabh Gupta, Shancheng Zhao +6Path PlanningMulti-Robot Motion Planning

    College of Information Science and Technology, Jinan University, Guangzhou 510632, China. · Department of Electrical and Computer Engineering, University of Connecticut, Storrs, CT 06269, USA. · Global College, Shanghai Jiao Tong University, Shanghai 200240, China. +3

  20. EvoPlan: Evolutionary Neuro-Symbolic Robot Planning with Spatio-Temporal Guarantees

    Jul 7, 2026Bhavya Sai Nukapotula, Samin Moosavi, Haoze Wang +4Classical PlanningRobot Planning

    Texas A&M University · Westwood High School

  21. Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning

    Jul 7, 2026Anxing Xiao, Hanbo Zhang, Tianrun Hu +1Robot PlanningWorld Model Planning

    School of Computing, National University of Singapore · Smart Systems Institute, National University of Singapore

  22. Structured 4D Latent Predictive Model for Robot Planning

    Jul 1, 2026Zhiyi Li, Peilin Wu, Xiaoshen Han +2Robot PlanningInverse Dynamics

    1MIT · 2Harvard University

  23. NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning

    Jul 1, 2026Qingyi Chen, Zachary Kingston, Ahmed H. QureshiRobot PlanningHamilton-Jacobi Reachability

    Department of Computer Science at Purdue University, West Lafayette, IN, USA

  24. DSIP: A Dynamic Coordination Planner for Signal-Free Intersections using Diffusion-Model-Based Multi-Agent Motion Planning

    Jun 29, 2026Qian Hu, Haoyang Peng, Songan Zhang +2Traffic Signal ControlAdaptive Coordination

    Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai 200240, China · School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China · Department of Electrical Engineering, The University of Texas at Arlington, Arlington, TX 76019 USA

  25. He3-Seeker: Robotic Information Planning for Lunar Helium-3 Distribution Mapping

    Jun 27, 2026Dong Li, Yujie Zheng, Chengdeng Cao +4Planetary ExplorationRosetta

    Institute of Automation, Chinese Academy of Sciences, China, and also with the Faculty of Innovation Engineering, Macau University of Science and Technology, Macau · OpenSpace Lab, China · College of Artificial Intelligence, China University of Petroleum (Beijing) +5

  26. EvoFlock: evolved inverse design of multi-agent motion

    Jun 24, 2026Craig ReynoldsSwarmsMulti-Agent Evolution

    unaffiliated researcher

  27. Temporal logics and formal synthesis for robot planning and control

    Jun 19, 2026Jana Tumova, Joris Verhagen, Matti VahsSignal Temporal LogicRobot Planning

    KTH Royal Institute of Technology

  28. Congestion-Aware Robot Tour Planning in Crowded Environments

    Jun 17, 2026Stefano Bernagozzi, Charlie Street, Masoumeh Mansouri +1Robot PlanningPedestrian Trajectory Prediction

    1Istituto Italiano di Tecnologia – Genova, Italia · 2Universit`a di Genova – Genova, Italia · University of Birmingham – Birmingham, United Kingdom

  29. Recover, Discover, Plan: Learning Skills and Concepts from Robot Failures

    Jun 16, 2026Bowen Li, Mayank Mishra, Y. Isabel Liu +7Scalable Robot LearningRobot Planning

    CMU · Centaur AI · Princeton +3

  30. GeneralVLA-2: Geometry-Aware Reconstruction and Governed Memory for Robot Planning

    Jun 16, 2026Haoyu Wang, Guoqing Ma, Zeyu Zhang +33D ReconstructionDiffusion-Based Vision-Language-Actions

    School of Computer Science, Peking University · 2CASIA · 3AI2 Robotics

  31. PO-PDDL: Learning Symbolic POMDPs from Visual Demonstrations for Robot Planning Under Uncertainty

    Jun 14, 2026Wenjing Tang, Xuanjin Jin, Yuan Liu +3Partially Observable Markov Decision ProcessRobot Planning

    Shanghai Jiao Tong University · Shanghai Innovation Institute

  32. Compositional Generative Modeling from Decentralized Data

    Jun 8, 2026Mashrur M. Morshed, Vishnu Naresh BoddetiGenerative ModelsDecentralized Autonomous Organization

    Department of Computer Science and Engineering, Michigan State University, East Lansing, MI, USA.

  33. What Objects Enable, Not What They Are: Functional Latent Spaces for Affordance Reasoning

    Jun 4, 2026Rohan Siva, Neel P. Bhatt, Yunhao Yang +6Semantic-Affordance InferenceAffordances

    1The University of Texas at Austin · 2Neurosymbolic Intelligence · University of Colorado Boulder

  34. SPADE: Sketch-guided Path Planning Augmented with Diffusion Experts

    Jun 2, 2026Charbel Abi Hana, Tatiana Ghantous, Mikael Khalil +1Robot PlanningPath Planning

    IDEALworks GmbH · IMT Atlantique · IDEALworks GmbH & Saint Joseph University of Beirut

  35. Learning-based Directed Graph Abstraction of Combinatorial Spaces for Order-Preserving Search in Mixed-Combinatorial Nonlinear Optimization

    May 31, 2026Gishnu Madhu, Feng Liu, Souma ChowdhuryParticle Swarm OptimizationRobot Planning

    University at Buffalo Buffalo, New York, 14260

  36. On-Device Robotic Planning: Eliminating Inference Redundancy for Efficient Decision-Making

    May 29, 2026Joonhee Lee, Hyunseung Shin, Hyunmi Kim +2Robot PlanningClassical Planning

    School of Integrated Technology, College of Computing, Yonsei University · Department of Hyperscale AI SoC Research Section, ETRI · 3EECS - Electrical and Computer Engineering, University of Michigan

  37. Closed-Loop Object-Informed Control for Non-Prehensile Robot Manipulation

    May 29, 2026Nikola Raicevic, Hyomuk Kim, Shahid Mulla +5Model Predictive Path IntegralRobot Planning

    Department of Electrical and Computer Engineering, University of California San Diego, 9500 Gilman Drive, La Jolla, CA 92093, United States

  38. Accelerating Robot Path Planning via Connectivity-Preserving Region Proposal Network

    May 27, 2026Zhanzheng Ma, Cancan Zhao, Shuai Zhang +1Robot PlanningPath

    School of Management, Hefei University of Technology, Hefei 230009, China

  39. Performance Comparison of Classical and Neural Sampling Algorithms for Robotic Navigation

    May 24, 2026Hichem Cheriet, Badra Khellat Kihel, Samira ChouraquiGeometric PlanningRobot Planning

    dept. of Computer Science Universit´e d’USTO Mohamed Boudiaf Oran, Algeria · dept. of Economics Oran2 Mohamed BenAhmed University Oran, Algeria

  40. Convex-Neural RRT*: Fast and Reliable Learning-Guided Sampling for High-Quality Robot Path Planning

    May 24, 2026Hichem Cheriet, Badra Khellat Kihel, Samira Chouraqui +1Geometric PlanningRobot Planning

  41. Dynamic Neural Koopman Distillation for Real-Time Robot Control Using Diffusion Models

    May 24, 2026Lei Zheng, Peiqi Yu, Zengqi Peng +2Diffusion PoliciesMujoco

    Department of Electrical and Computer Engineering, National University of Singapore, Singapore · Department of Electrical and Computer Engineering, Carnegie Mellon University, USA · Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology, Hong Kong SAR, China

  42. No Plan, Yet Human: A Reactive Robotics Model Predicts Human Planning Failures on a Clinical Task

    May 15, 2026Michael Migacev, Vito Mengers, Antonia Köngeter +1Robot PlanningPlanning

    Robotics and Biology Laboratory, Technische Universität Berlin, Germany · Science of Intelligence, Research Cluster of Excellence, Berlin, Germany · Robotics Institute Germany

  43. Resource-Constrained Robotic Planning in the face of Mixed Uncertainty

    May 7, 2026Yihao Yin, Pian Yu, Andrea Turrini +3Robot PlanningRobotic Systems

    Hangzhou Institute for Advanced Study (HIAS), UCAS, China. · Key Laboratory of System Software (Chinese Academy of Sciences), Institute of Software Chinese Academy of Sciences, Beijing, China. · University of Chinese Academy of Sciences, Beijing, China. +1

  44. Semantic Risk-Aware Heuristic Planning for Robotic Navigation in Dynamic Environments: An LLM-Inspired Approach

    May 4, 2026Hamza Ahmed Durrani, Rafay Suleman DurraniRobot PlanningRobot Navigation

    Sejong University, Computer Science Engineering · Technische Universität Ilmenau, Computer Engineering

  45. Optimized and kinematically feasible multi-agent motion planning

    May 3, 2026Anja Hellander, Kristoffer Bergman, Daniel AxehillMotion PlanningRobot Planning

    Division of Automatic Control, Linköping University, Sweden · Saab AB, Linköping, Sweden

  46. Optimizing Trajectory-Trees in Belief Space: An Application from Model Predictive Control to Task and Motion Planning

    May 3, 2026Camille Phiquepal, Marc ToussaintModel Predictive ControlRobust Trajectory

    Learning and Intelligent Systems Lab (LIS), TU Berlin, Germany

  47. Robot Planning and Situation Handling with Active Perception

    Apr 28, 2026Austine Oloo, Zainab Altaweel, Yohei Hayamizu +9Robot PlanningViewpoint-Dependent Active Perception

    1SUNY Binghamton · 2CMU · 3Ford Research +1

  48. Guiding Vector Field Generation via Score-based Diffusion Model

    Apr 27, 2026Zirui Chen, Shiliang Guo, Shiyu ZhaoVector FieldsDiffusion Planning

    College of Computer Science and Technology, Zhejiang University, Hangzhou, China. · WINDY Lab, Department of Artificial Intelligence, Westlake University, Hangzhou, China.

  49. Can LLMs Prove Robotic Path Planning Optimality? A Benchmark for Research-Level Algorithm Verification

    Mar 19, 2026Zhengbang Yang, Md. Tasin Tazwar, Minghan Wei +1Robot PlanningLarge Language Model Planning

    George Mason University. · Florida Atlantic University.

  50. CABTO: Context-Aware Behavior Tree Grounding for Robot Manipulation

    Mar 17, 2026Yishuai Cai, Xinglin Chen, Yunxin Mao +6Behavior TreeRobot Planning

    National University of Defense Technology · PsiBot · PKU-Psibot Lab +1

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

    Mar 4, 2026Angelos Zacharia, Mihir Dharmadhikari, Mohit Singh +1Robot PlanningAerial Robots

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

  52. H-WM: Robotic Task and Motion Planning Guided by Hierarchical World Model

    Feb 11, 2026Jinbang Huang, Wenyuan Chen, Zhiyuan Li +9Efficient World-Action ModelRobot State

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

  53. Manifold-constrained Hamilton-Jacobi Reachability Learning for Decentralized Multi-Agent Motion Planning

    Nov 5, 2025Qingyi Chen, Ruiqi Ni, Junyoung Kim +1Multi-Robot Motion PlanningRobot Planning

    Department of Computer Science at Purdue University, West Lafayette, IN 47907, USA.

  54. ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality

    Oct 2, 2025Isaac Ngui, Courtney McBeth, André Santos +6Human-Robot InteractionRobot Planning

    Parasol Lab, Siebel School of Computing and Data Science, University of Illinois Urbana-Champaign, Champaign, IL 61820 USA · Insper, São Paulo, Brazil · Department of Computer Science at Instituto Tecnológico Autónomo de México (ITAM), Mexico City, Mexico

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

    Sep 25, 2025Jinbang Huang, Zhiyuan Li, Yuanzhao Hu +4Robot PlanningReward Functions

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

  56. NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning

    Jul 18, 2025Qingyi Chen, Zachary Kingston, Ahmed H. QureshiRobot PlanningHamilton-Jacobi Reachability

    Department of Computer Science at Purdue University, West Lafayette, IN, USA