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Bibliographic Details
Main Authors:	Herzog, Jonas, Liu, Jiangpin, Wang, Yue
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	https://arxiv.org/abs/2504.06661
Tags:	Add Tag No Tags, Be the first to tag this record!

GRID: Scene-Graph-based Instruction-driven Robotic Task Planning
by: Ni, Zhe, et al.
Published: (2023)

Grounding LLMs For Robot Task Planning Using Closed-loop State Feedback
by: Bhat, Vineet, et al.
Published: (2024)

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs
by: Strader, Jared, et al.
Published: (2025)

Automated Planning Domain Inference for Task and Motion Planning
by: Huang, Jinbang, et al.
Published: (2024)

SPADE: Towards Scalable Path Planning Architecture on Actionable Multi-Domain 3D Scene Graphs
by: Viswanathan, Vignesh Kottayam, et al.
Published: (2025)

EmbodiedRAG: Dynamic 3D Scene Graph Retrieval for Efficient and Scalable Robot Task Planning
by: Booker, Meghan, et al.
Published: (2024)

TaskGround: Structured Executable Task Inference for Full-Scene Household Reasoning
by: Feng, ZhiYuan, et al.
Published: (2026)

Relational Scene Graphs for Object Grounding of Natural Language Commands
by: Kuhn, Julia, et al.
Published: (2026)

Cross-Entropy Optimization of Physically Grounded Task and Motion Plans
by: Gimenez, Andreu Matoses, et al.
Published: (2025)

TACS-Graphs: Traversability-Aware Consistent Scene Graphs for Ground Robot Localization and Mapping
by: Kim, Jeewon, et al.
Published: (2025)

Event-Grounding Graph: Unified Spatio-Temporal Scene Graph from Robotic Observations
by: Nguyen, Phuoc, et al.
Published: (2025)

Grounding Large Language Models for Robot Task Planning Using Closed‐Loop State Feedback
by: Vineet Bhat, et al.
Published: (2025)

VeriGraph: Scene Graphs for Execution Verifiable Robot Planning
by: Ekpo, Daniel, et al.
Published: (2024)

Spatially Grounded Long-Horizon Task Planning in the Wild
by: Jung, Sehun, et al.
Published: (2026)

Optimal Scene Graph Planning with Large Language Model Guidance
by: Dai, Zhirui, et al.
Published: (2023)

Scene-agnostic Hierarchical Bimanual Task Planning via Visual Affordance Reasoning
by: Lee, Kwang Bin, et al.
Published: (2025)

Open-Vocabulary Spatio-Temporal Scene Graph for Robot Perception and Teleoperation Planning
by: Wang, Yi, et al.
Published: (2025)

DGSG-Mind: Dynamic 3D Gaussian Scene Graphs for Long-Term Scene Understanding and Grounding
by: Ge, Luzhou, et al.
Published: (2026)

Task and Motion Planning in Hierarchical 3D Scene Graphs
by: Ray, Aaron, et al.
Published: (2024)

SGGNet$^2$: Speech-Scene Graph Grounding Network for Speech-guided Navigation
by: Kim, Dohyun, et al.
Published: (2023)

Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation
by: Honerkamp, Daniel, et al.
Published: (2024)

Grounded Vision-Language Interpreter for Integrated Task and Motion Planning
by: Siburian, Jeremy, et al.
Published: (2025)

Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning
by: Puigjaner, Albert Gassol, et al.
Published: (2026)

Situationally-aware Path Planning Exploiting 3D Scene Graphs
by: Ejaz, Saad, et al.
Published: (2025)

Sampling-Based Motion Planning with Scene Graphs Under Perception Constraints
by: Meng, Qingxi, et al.
Published: (2026)

Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation
by: Hu, Yue, et al.
Published: (2025)

Hierarchical Diffusion Motion Planning with Task-Conditioned Uncertainty-Aware Priors
by: Kim, Amelie Minji, et al.
Published: (2025)

SceneGraphGrounder: Zero-Shot 3D Visual Grounding via Structured Scene Graph Matching
by: Sun, Xuefei, et al.
Published: (2026)

LLM-GROP: Visually Grounded Robot Task and Motion Planning with Large Language Models
by: Zhang, Xiaohan, et al.
Published: (2025)

Cooking Task Planning using LLM and Verified by Graph Network
by: Takebayashi, Ryunosuke, et al.
Published: (2025)

SignScene: Visual Sign Grounding for Mapless Navigation
by: Zimmerman, Nicky, et al.
Published: (2026)

RynnEC: Bringing MLLMs into Embodied World
by: Dang, Ronghao, et al.
Published: (2025)

Clio: Real-time Task-Driven Open-Set 3D Scene Graphs
by: Maggio, Dominic, et al.
Published: (2024)

Interleaved LLM and Motion Planning for Generalized Multi-Object Collection in Large Scene Graphs
by: Yang, Ruochu, et al.
Published: (2025)

SG-CoT: An Ambiguity-Aware Robotic Planning Framework using Scene Graph Representations
by: Rana, Akshat, et al.
Published: (2026)

SVLL: Staged Vision-Language Learning for Physically Grounded Embodied Task Planning
by: Yang, Yuyuan, et al.
Published: (2026)

A Comparison of Prompt Engineering Techniques for Task Planning and Execution in Service Robotics
by: Bode, Jonas, et al.
Published: (2024)

Offline Task Assistance Planning on a Graph:Theoretic and Algorithmic Foundations
by: Bloch, Eitan, et al.
Published: (2024)

XFlowMP: Task-Conditioned Motion Fields for Generative Robot Planning with Schrodinger Bridges
by: Nguyen, Khang, et al.
Published: (2025)

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// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

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