Turning a goal into a sequence of actions, from classical planners over scene graphs to LLMs that page through them. Most of the planning papers in the diary plan over a semantic map, so this subfield leans on semantic mapping.
Concepts
- Language-grounded planning: how planners read the graph, and what they all assume.
- 3D scene graphs, filed under semantic mapping.
Entities
Datasets, platforms, tools and groups that come up in this subfield: PDDL, linear temporal logic, Habitat, GPT-4. The entity index has the rest.
Open questions
- What does a planner do when two robots’ maps disagree about whether a door is open?
- How much of a plan needs re-checking when the scene changes under it?
- Most of these planners call a hosted LLM. What is the fallback when the link drops?
Papers
| Paper | Year | Venue | Domain | Threads |
|---|---|---|---|---|
| PSG-Nav | 2026 | ICML 2026 | land | perception, long-term |
| LSG | 2024 | arXiv preprint | land | perception |
| xFLIE | 2024 | arXiv preprint | land, air | perception |
| Clio | 2024 | IEEE RA-L 2024 | land | perception, long-term |
| HOV-SG | 2024 | RSS 2024 | land | perception |
| LLM-guided scene graph planning | 2023 | arXiv preprint | land | perception, robustness |
| PaLM-E | 2023 | ICML 2023 | land | perception |
| SayPlan | 2023 | CoRL 2023 | land | perception, long-term |
| Embodied AI survey | 2022 | IEEE Transactions on Emerging Topics in Computational Intelligence 2022 (arXiv 2021) | land | perception, long-term |
| Taskography | 2022 | CoRL 2021 | land | perception |
| DSG navigation policies | 2021 | ICRA 2022 | land | perception, long-term |
| Nav2 | 2020 | IROS 2020 | land | long-term, robustness |
| 3-D Scene Graph (Kim) | 2019 | IEEE Transactions on Cybernetics | land | perception |
| Active perception | 2018 | Autonomous Robots 42(2), 2018 (arXiv 2016) | general | perception, long-term |
| Paper | Year | Venue | Domain | Threads |
|---|---|---|---|---|
| AUSLUN | 2026 | arXiv preprint | sea, air | perception |
| CoSMO | 2026 | CoRL 2026 | land | robustness, perception |
| EvoNav-Bench | 2026 | arXiv preprint | land | long-term |
| LTR² | 2026 | IEEE Transactions on Robotics (accepted) | land | long-term, perception |
| MemoGuard | 2026 | IEEE Embedded Systems Letters (ESWEEK CODES 2026) | land | long-term, robustness |
| Trust-aware rollout | 2026 | arXiv preprint | land | robustness |
| ASHiTA | 2025 | CVPR 2025 | land | perception |
| Multi-robot language-grounded planning | 2025 | arXiv preprint | land | perception |
| TURTLMap | 2024 | IROS 2024 | sea | perception, robustness |
Other subfields: perception, mapping and localisation, semantic mapping, control, robot learning, multi-robot systems, safety and verification, security, Human-robot interaction, field robotics.