Robot Task Planning

Benchmarks archive 2025-07-28

2 leaderboard tables shown for this task, 2 with rows (a “benchmark” on this site is a table with at least one row, as on /sota), ordered by row count. “Best model” is the first row in the archive's own order at snapshot; nothing is re-ranked here and metric direction is not recorded in the archive. PwC's Trend sparklines are not in the archive, so that column is omitted.

Syntology column: samples harvested from the paper's repositories and executed on synthesized fixtures; “ran” is not a correctness claim and does not order the table. A dash means no Syntology record for that paper, not a recorded non-run. Read from the graph 2026-09-24.

Libraries

Not in the archive: the export carries no per-task library table, so there is nothing to show at snapshot 2025-07-28.

Datasets archive 2025-07-28

7 datasets whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

1 subtask in the archive's task tree.

Most implemented papers archive 2025-07-28

23 shown of 23 papers with code (48 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
  4 Apr 2022 3 repositories listed
  We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while…
• 3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
  15 Feb 2020 3 repositories listed Syntology ran 0 of 4 samples · 4 unverified
  Our second contribution is to provide the first fully automatic Spatial PerceptIon eNgine(SPIN) to build a DSG from visual-inertial data.
• The CoSTAR Block Stacking Dataset: Learning with Workspace Constraints
  27 Oct 2018 3 repositories listed
  We show that a mild relaxation of the task and workspace constraints implicit in existing object grasping datasets can cause neural network based grasping algorithms to fail on even a simple block stacking task when…
• You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration
  30 Jan 2022 2 repositories listed Syntology ran 4 of 30 samples · 26 unverified
  The canonical object representation is learned solely in simulation and then used to parse a category-level, task trajectory from a single demonstration video.
• LLM+MAP: Bimanual Robot Task Planning using Large Language Models and Planning Domain Definition Language
  21 Mar 2025 1 repository listed
  New challenges inevitably arise in bimanual manipulation, necessitating not only effective task decomposition but also efficient task allocation.
• MRBTP: Efficient Multi-Robot Behavior Tree Planning and Collaboration
  25 Feb 2025 1 repository listed
  These relevant actions can be pre-planned to form long-horizon subtrees, significantly enhancing the planning speed and collaboration efficiency of MRBTP.
• RoboMatrix: A Skill-centric Hierarchical Framework for Scalable Robot Task Planning and Execution in Open-World
  29 Nov 2024 1 repository listed
  To address this, we propose RoboMatrix, a skill-centric hierarchical framework designed for scalable robot task planning and execution in open-world environments.
• SELP: Generating Safe and Efficient Task Plans for Robot Agents with Large Language Models
  28 Sep 2024 1 repository listed
  We demonstrate the effectiveness and generalizability of SELP across different robot agents and tasks, including drone navigation and robot manipulation.
• COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Models
  23 Sep 2024 1 repository listed
  Specifically, a Proposal-Execution-Feedback-Adjustment (PEFA) mechanism is designed to decompose and assign actions for individual robots, where a centralized task assigner makes a task planning proposal to decompose…
• Sequential Planning in Large Partially Observable Environments guided by LLMs
  12 Dec 2023 1 repository listed
  Heuristic methods, like monte-carlo tree search, though effective for large state space, but struggle if action space is large.
• Vision-Language Interpreter for Robot Task Planning
  2 Nov 2023 1 repository listed
  By generating PDs from language instruction and scene observation, we can drive symbolic planners in a language-guided framework.
• REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction
  27 Jun 2023 1 repository listed Syntology ran 0 of 19 samples · 19 unverified
  The ability to detect and analyze failed executions automatically is crucial for an explainable and robust robotic system.
• Robot Task Planning Based on Large Language Model Representing Knowledge with Directed Graph Structures
  8 Jun 2023 1 repository listed
  Traditional robot task planning methods face challenges when dealing with highly unstructured environments and complex tasks.
• SheetCopilot: Bringing Software Productivity to the Next Level through Large Language Models
  30 May 2023 1 repository listed
  In this work, we propose a SheetCopilot agent that takes natural language task and control spreadsheet to fulfill the requirements.
• Parsel: Algorithmic Reasoning with Language Models by Composing Decompositions
  20 Dec 2022 1 repository listed Syntology ran 1 of 1 samples · 0 unverified · 1 pointer-only (licence)
  Despite recent success in large language model (LLM) reasoning, LLMs struggle with hierarchical multi-step reasoning tasks like generating complex programs.
• BusyBot: Learning to Interact, Reason, and Plan in a BusyBoard Environment
  17 Jul 2022 1 repository listed
  We introduce BusyBoard, a toy-inspired robot learning environment that leverages a diverse set of articulated objects and inter-object functional relations to provide rich visual feedback for robot interactions.
• TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs
  11 Jul 2022 1 repository listed
  3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations.
• Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents
  18 Jan 2022 1 repository listed
  However, the plans produced naively by LLMs often cannot map precisely to admissible actions.
• CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
  19 Sep 2021 1 repository listed
  This work proposes a framework to learn task-relevant grasping for industrial objects without the need of time-consuming real-world data collection or manual annotation.
• Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulation
  31 May 2021 1 repository listed
  Despite the success of reinforcement learning methods, they have yet to have their breakthrough moment when applied to a broad range of robotic manipulation tasks.
• PackIt: A Virtual Environment for Geometric Planning
  21 Jul 2020 1 repository listed Syntology ran 0 of 8 samples · 8 unverified
  The ability to jointly understand the geometry of objects and plan actions for manipulating them is crucial for intelligent agents.
• Task Planning with a Weighted Functional Object-Oriented Network
  1 May 2019 1 repository listed
  The paper also presents a task planning algorithm for the weighted FOON to allocate manipulation action load to the robot and human to achieve optimal performance while minimizing human effort.
• Visual Robot Task Planning
  30 Mar 2018 1 repository listed
  In this work, we propose a neural network architecture and associated planning algorithm that (1) learns a representation of the world useful for generating prospective futures after the application of high-level…

Syntology lines on 5 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.