AI Agent

Think Fast and Far: Long-Horizon Online POMDP Planning via Rapid State Sampling

快速思考与远见：通过快速状态采样实现长时域在线POMDP规划

Yuanchu Liang, Edward Kim, J. Arden Knoll, Wil Thomason, Zachary Kingston, Lydia E. Kavraki, Hanna Kurniawati

机构 * Australian National University（澳大利亚国立大学） ； Rice University（里士大学） 纠错

专题命中 规划决策 ：planning(title,abstract)

AI总结 提出一种基于快速状态采样的在线POMDP求解器ROP-RAS3，通过宏动作生成和信念空间采样，有效解决长时域POMDP问题，在多种高维连续/离散混合空间中显著优于现有方法。

Comments @inproceedings{Liang2026Thinking, title = {Think Fast and Far: Long-Horizon Online POMDP Planning via Rapid State Sampling}, author = {Yuanchu Liang and Edward Kim and J.Arden Knoll and Wil Thomason and Zachary Kingston and Lydia E. Kavraki and Hanna Kurniawati}, year = 2026, booktitle = {International Journal of Robotics Research (to appear)} }

Fast, Safe, and Propellant-Efficient Spacecraft Planning under Clohessy-Wiltshire-Hill Dynamics

快速、安全且推进剂高效的航天器规划在克洛赫西-威利什-希尔动力学下

Joseph A. Starek, Edward Schmerling, Gabriel D. Maher, Brent W. Barbee, Marco Pavone

专题命中 规划决策 ：planning(title,abstract)

AI总结 本文提出了一种基于采样的运动规划算法，用于近圆轨道上实时且推进剂优化的自主航天器轨迹生成，结合机器人运动规划的最新进展，以实现推进剂优化的捕捉和近距离操作。

Comments Submitted to the AIAA Journal of Guidance, Control, and Dynamics (JGCD) special issue entitled "Computational Guidance and Control". This submission is the journal version corresponding to the conference manuscript "Real-Time, Propellant-Efficient Spacecraft Planning under Clohessy-Wiltshire-Hill Dynamics" accepted to the 2016 IEEE Aerospace Conference in Big Sky, MT, USA

A Multi-Level Agent-Based Architecture for Climate Governance Integrating Cognitive and Institutional Dynamics

一种整合认知与制度动态的气候治理多层级智能体架构

Ivan Puga-Gonzalez, Önder Gürcan, Vanja Falck, Christopher Frantz, F. LeRon Shults, David Herbert, Larissa Lopes Lima, Markus Grendstad Rousseau

专题命中 规划决策 ：agent(title,abstract)；autonomous agent(comments)

AI总结 提出一种模块化多层级智能体架构，整合基于动机的认知决策模型与制度行为，用于模拟气候治理中公民、NGO、媒体和政治决策者的复杂互动。

Comments 9 pages, 1 figure, The 7th International Workshop on Agents for Societal Impact (ASI 2026) held in conjunction with the 25th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2026)

Motion Planning of Cooperative Nonholonomic Mobile Manipulators

协作非holonomic移动机械臂的运动规划

Keshab Patra, Arpita Sinha, Anirban Guha

机构 * Department of Mechanical Engineering, Indian Institute of Technology Bombay（印度理工学院班加罗尔机械工程系） ； Center for Systems and Control, Indian Institute of Technology Bombay（印度理工学院班加罗尔系统控制中心） 纠错

专题命中 规划决策 ：planning(title,abstract)

AI总结 本文提出了一种实时可实现的运动规划框架，用于非holonomic移动机械臂机器人在动态环境中协作运输物体。该框架通过静态无障碍区域找到从起点到目标的路径，并利用一种新颖、快速且计算轻量的椭圆技术生成路径周围的凸、静态、无障碍区域。引入了基于非线性模型预测控制（NMPC）的实时可实现规划技术，联合规划移动基底和机械臂的可行运动，并生成可行的、无碰撞的轨迹以实现协作物体运输。仿真和硬件实验验证了所提规划框架的有效性。

Comments Published in ASME Letters in Translational Robotics. This includes supplementary materials

Journal ref Patra, K., Sinha, A., and Guha, A. (May 2, 2026). "Motion Planning of Cooperative Nonholonomic Mobile Manipulators." ASME. Letters Trans. Robotics. December 2025; 1(4): 041003

A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints

一种带有俯仰和偏航率约束的广义杜宾车辆三维路径规划新模型

Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam, David W. Casbeer

机构 * Department of Electrical Engineering and Computer Science, University of California, Irvine（加州大学 Irvine 分校 电气工程与计算机科学系） ； Department of Mechanical Engineering, Texas A&M University（德克萨斯大学 A&M 学院 机械工程系） ； DCS Corporation（DCS 公司） ； Control Science Center, Air Force Research Laboratory, Wright-Patterson Air Force Base（空军研究实验室 威格伍德-帕特森空军基地 控制科学中心） 纠错

专题命中 规划决策 ：planning(title,abstract)

AI总结 本文提出一种新模型和快速算法，用于固定翼无人机的三维路径规划，通过体固定坐标系考虑完整车辆姿态，使用两个控制输入表示有限的俯仰和偏航率，生成更短可行路径。

Comments The code for this paper is available at https://github.com/DeepakPrakashKumar/3D-Motion-Planning-for-Generalized-Dubins-with-Pitch-Yaw-constraints

VQ-Jarvis: Retrieval-Augmented Video Restoration Agent with Sharp Vision and Fast Thought

VQ-Jarvis：具备锐利视觉与快速思考的检索增强视频修复代理

Xuanyu Zhang, Weiqi Li, Qunliang Xing, Jingfen Xie, Bin Chen, Junlin Li, Li Zhang, Jian Zhang, Shijie Zhao

机构 * School of Electronic and Computer Engineering, Peking University, Shenzhen, China（北京大学电子与计算机工程学院，深圳，中国） ； ByteDance Inc., Shenzhen, China（字节跳动公司，深圳，中国） 纠错

专题命中 规划决策 ：agent(title,abstract)

AI总结 本文提出VQ-Jarvis，一种具备锐利视觉与快速思考的视频修复代理，通过构建大规模视频配对增强数据集和分层操作调度策略，提升视频修复的准确性和效率。

Comments Video restoration, Agent-based restoration

Autonomy Architectures for Safe Planning in Unknown Environments Under Budget Constraints

Daniel M. Cherenson, Devansh R. Agrawal, Dimitra Panagou

机构 * Department of Robotics, University of Michigan（机器人学系，密歇根大学） ； Department of Aerospace Engineering, University of Michigan（航空航天工程系，密歇根大学） 纠错

专题命中 规划决策 ：planning(title,abstract)

Comments Code: https://github.com/dcherenson/budget-constrained-planning

Kineto-Dynamical Planning and Accurate Execution of Minimum-Time Maneuvers on Three-Dimensional Circuits

Mattia Piccinini, Sebastiano Taddei, Johannes Betz, Francesco Biral

机构 * Professorship of Autonomous Vehicle Systems, Technical University of Munich（自主车辆系统教授职位，技术大学慕尼黑） ； Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所） ； Department of Industrial Engineering, University of Trento（工业工程系，特伦托大学） ； Department of Electrical and Information Engineering, Politecnico di Bari（电气与信息工程系，巴里理工学院） 纠错

专题命中 规划决策 ：planning(title,abstract)

Comments 2025 IEEE International Conference on Robotics and Automation (ICRA)

Journal ref "Kineto-Dynamical Planning and Accurate Execution of Minimum-Time Maneuvers on Three-Dimensional Circuits," 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 1-7

Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement

Kallol Saha, Amber Li, Angela Rodriguez-Izquierdo, Lifan Yu, Ben Eisner, Maxim Likhachev, David Held

机构 * Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） ； Princeton University（普林斯顿大学） 纠错

专题命中 规划决策 ：planning(title,abstract)

Comments Conference on Robot Learning (CoRL) 2025 (https://planning-from-point-clouds.github.io/)

Biasing the Driving Style of an Artificial Race Driver for Online Time-Optimal Maneuver Planning

Sebastiano Taddei, Mattia Piccinini, Francesco Biral

机构 * Department of Industrial Engineering, University of Trento（工业工程系，特伦托大学） ； Department of Electrical and Information Engineering, Politecnico di Bari（电气与信息工程系，巴里理工学院） ； Professorship of Autonomous Vehicle Systems, Technical University of Munich（自主车辆系统教授职位，慕尼黑技术大学） 纠错

专题命中 规划决策 ：planning(title,abstract)

Journal ref "Biasing the Driving Style of an Artificial Race Driver for Online Time-Optimal Maneuver Planning*," 2025 IEEE Intelligent Vehicles Symposium (IV), Cluj-Napoca, Romania, 2025, pp. 640-647

Think Before You Segment: An Object-aware Reasoning Agent for Referring Audio-Visual Segmentation

Jinxing Zhou, Yanghao Zhou, Mingfei Han, Tong Wang, Xiaojun Chang, Hisham Cholakkal, Rao Muhammad Anwer

专题命中 规划决策 ：agent(title,abstract)

Comments Project page: https://github.com/jasongief/TGS-Agent

Learning Local Heuristics for Search-Based Navigation Planning

Rishi Veerapaneni, Muhammad Suhail Saleem, Maxim Likhachev

专题命中 规划决策 ：planning(title,abstract)

Comments Published at the International Conference on Automated Planning and Scheduling 2023 (ICAPS 2023)

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation

André Schakkal, Ben Zandonati, Zhutian Yang, Navid Azizan

机构 * Massachusetts Institute of Technology（麻省理工学院） ； École Polytechnique Fédérale de Lausanne（瑞士联邦理工学院） 纠错

专题命中 规划决策 ：planning(title,abstract)

Comments Accepted at the RSS 2025 Workshop on Robot Planning in the Era of Foundation Models

Robust Planning and Control of Omnidirectional MRAVs for Aerial Communications in Wireless Networks

Giuseppe Silano, Daniel Bonilla Licea, Hajar El Hammouti, Mounir Ghogho, and Martin Saska

机构 * Ricerca sul Sistema Energetico（能源系统研究） ； Czech Technical University in Prague（布拉格捷克技术大学） ； College of Computing, Mohammed VI Polytechnic University（穆莱·伊斯梅尔polytechnic大学计算机学院） 纠错

专题命中 规划决策 ：planning(title,abstract)

Comments 2 pages, Accepted for discussion at the workshop session "Beyond the Lab: Robust Planning and Control in Real World Scenarios" at ICRA'25 in Atlanta, USA

Safe Interval Randomized Path Planning For Manipulators

Nuraddin Kerimov, Aleksandr Onegin, Konstantin Yakovlev

专题命中 规划决策 ：planning(title,abstract)

Comments Submitted to The 35th International Conference on Automated Planning and Scheduling (ICAPS 2025)

A computationally efficient Benders decomposition for energy systems planning problems with detailed operations and time-coupling constraints

Anna Jacobson, Filippo Pecci, Nestor Sepulveda, Qingyu Xu, Jesse Jenkins

专题命中 规划决策 ：planning(title,abstract)

Comments Published in: Anna Jacobson, Filippo Pecci, Nestor Sepulveda, Qingyu Xu, Jesse Jenkins (2023) A Computationally Efficient Benders Decomposition for Energy Systems Planning Problems with Detailed Operations and Time-Coupling Constraints. INFORMS Journal on Optimization 0(0)

Story3D-Agent: Exploring 3D Storytelling Visualization with Large Language Models

Yuzhou Huang, Yiran Qin, Shunlin Lu, Xintao Wang, Rui Huang, Ying Shan, Ruimao Zhang

专题命中 规划决策 ：agent(title,abstract)

Comments Project page: https://yuzhou914.github.io/Story3D-Agent/

Mathematics of Family Planning in Talmud

Simon Blatt, Uta Freiberg, Vladimir Shikhman

专题命中 规划决策 ：planning(title,abstract)

Comments Talmud, Beit Hillel, Beit Shammai, family planning, gender ratio, mathematical induction, Doob's optional-stopping theorem

Optimality and robustness in path-planning under initial uncertainty

Dongping Qi, Adam Dhillon, Alexander Vladimirsky

专题命中 规划决策 ：planning(title,abstract)

Comments 25 pages, 14 figures. Keywords: optimal control, path-planning, Hamilton-Jacobi PDEs, uncertainty, robustness, delayed information acquisition

Weighted strategies to guide a multi-objective evolutionary algorithm for multi-UAV mission planning

Cristian Ramirez-Atencia, Javier Del Ser, David Camacho

专题命中 规划决策 ：planning(title,abstract)

Comments Preprint submitted and accepted in Swarm and Evolutionary Computation

Journal ref Cristian Ramirez Atencia, Javier Del Ser, David Camacho: Weighted strategies to guide a multi-objective evolutionary algorithm for multi-UAV mission planning. Swarm and Evolutionary Computation, Volume 44, Pages 480-495, 2019

An Agent-Based Model for Poverty and Discrimination Policy-Making

Nieves Montes, Georgina Curto, Nardine Osman, Carles Sierra

专题命中 规划决策 ：agent(title,abstract)

Journal ref Proceedings of the 2nd Workshop on Agent-based Modeling and Policy-Making (AMPM 2022) co-located with 35th International Conference on Legal Knowledge and Information Systems (JURIX 2022), Saarbrücken, Germany, December 14, 2022

Equitable Persistent Coverage of Non-Convex Environments with Graph-Based Planning

José Manuel Palacios-Gasós, Danilo Tardioli, Eduardo Montijano, Carlos Sagüés

专题命中 规划决策 ：planning(title,abstract)

Comments This is the accepted version an already published manuscript. See journal reference for details

Journal ref Palacios-Gasos JM, Tardioli D, Montijano E, Sagues C. Equitable persistent coverage of non-convex environments with graph-based planning. The International Journal of Robotics Research. 2019;38(14):1674-1694

MR.CAP: Multi-Robot Joint Control and Planning for Object Transport

Hussein Ali Jaafar, Cheng-Hao Kao, Sajad Saeedi

专题命中 规划决策 ：planning(title,abstract)

Comments H. A. Jaafar, C. -H. Kao and S. Saeedi, "MR.CAP: Multi-Robot Joint Control and Planning for Object Transport," in IEEE Control Systems Letters, doi: 10.1109/LCSYS.2024.3349989

Data-driven micromobility network planning for demand and safety

Pietro Folco, Laetitia Gauvin, Michele Tizzoni, Michael Szell

专题命中 规划决策 ：planning(title,abstract)

Comments Main text: 16 pages, 5 figures, SI: 12 pages, 9 figures, 4 tables

Journal ref Environment and Planning B 50(8), 2087-2102 (2023)

NBV-SC: Next Best View Planning based on Shape Completion for Fruit Mapping and Reconstruction

Rohit Menon, Tobias Zaenker, Nils Dengler, Maren Bennewitz

专题命中 规划决策 ：planning(title,abstract)

Comments Agricultural Automation, Viewpoint Planning, Active Perception, Shape Completion

Novel Method for More Efficient Optimizing the Knowledge-Based Planning: Specific Voxels of each Structure Influenced by Dominant Beamlets (SVSIDB)

Ali Yousefi, Saeedeh Ketabi, Iraj Abedi

专题命中 规划决策 ：planning(title,abstract)

Comments Keywords: Computing Efficiency; Voxels Down-Sampling; Radiotherapy Treatment Planning; Clustering. arXiv admin note: text overlap with arXiv:2206.05834

Quantum Information Science and Technology for Nuclear Physics. Input into U.S. Long-Range Planning, 2023

Douglas Beck, Joseph Carlson, Zohreh Davoudi, Joseph Formaggio, Sofia Quaglioni, Martin Savage, Joao Barata, Tanmoy Bhattacharya, Michael Bishof, Ian Cloet, Andrea Delgado, Michael DeMarco, Caleb Fink, Adrien Florio, Marianne Francois, Dorota Grabowska, Shannon Hoogerheide, Mengyao Huang, Kazuki Ikeda, Marc Illa, Kyungseon Joo, Dmitri Kharzeev, Karol Kowalski, Wai Kin Lai, Kyle Leach, Ben Loer, Ian Low, Joshua Martin, David Moore, Thomas Mehen, Niklas Mueller, James Mulligan, Pieter Mumm, Francesco Pederiva, Rob Pisarski, Mateusz Ploskon, Sanjay Reddy, Gautam Rupak, Hersh Singh, Maninder Singh, Ionel Stetcu, Jesse Stryker, Paul Szypryt, Semeon Valgushev, Brent VanDevender, Samuel Watkins, Christopher Wilson, Xiaojun Yao, Andrei Afanasev, Akif Baha Balantekin, Alessandro Baroni, Raymond Bunker, Bipasha Chakraborty, Ivan Chernyshev, Vincenzo Cirigliano, Benjamin Clark, Shashi Kumar Dhiman, Weijie Du, Dipangkar Dutta, Robert Edwards, Abraham Flores, Alfredo Galindo-Uribarri, Ronald Fernando Garcia Ruiz, Vesselin Gueorguiev, Fanqing Guo, Erin Hansen, Hector Hernandez, Koichi Hattori, Philipp Hauke, Morten Hjorth-Jensen, Keith Jankowski, Calvin Johnson, Denis Lacroix, Dean Lee, Huey-Wen Lin, Xiaohui Liu, Felipe J. Llanes-Estrada, John Looney, Misha Lukin, Alexis Mercenne, Jeff Miller, Emil Mottola, Berndt Mueller, Benjamin Nachman, John Negele, John Orrell, Amol Patwardhan, Daniel Phillips, Stephen Poole, Irene Qualters, Mike Rumore, Thomas Schaefer, Jeremy Scott, Rajeev Singh, James Vary, Juan-Jose Galvez-Viruet, Kyle Wendt, Hongxi Xing, Liang Yang, Glenn Young, Fanyi Zhao

专题命中 规划决策 ：planning(title,abstract)

Comments A white paper for the 2023 nuclear physics long-range planning activity, emerging from the workshop "Quantum Information Science for U.S. Nuclear Physics Long Range Planning'', held in Santa Fe, New Mexico on January 31 - February 1, 2023. 26 pages with 7 figures

Towards Crowd-aware Indoor Path Planning (Extended Version)

Tiantian Liu, Huan Li, Hua Lu, Muhammad Aamir Cheema, Lidan Shou

专题命中 规划决策 ：planning(title,abstract)

Comments The extension of a VLDB'21 paper "Towards Crowd-aware Indoor Path Planning"

Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects

Giulio Schiavi, Paula Wulkop, Giuseppe Rizzi, Lionel Ott, Roland Siegwart, Jen Jen Chung

专题命中 规划决策 ：agent(title,abstract)

Comments First two authors contributed equally. ICRA 2023. Project page: https://paulawulkop.github.io/agent_aware_affordances

Local Planner Bench: Benchmarking for Local Motion Planning

Max Spahn, Chadi Salmi, Javier Alonso-Mora

专题命中 规划决策 ：planning(title,abstract)

Comments Workshop @IROS2022: Evaluating Motion Planning Performance, 4 pages