Map2Route: Benchmarking Compositional Language-Grounded Route Planning over Semantic Maps

arXiv:2609.17910 · cs.RO · Submitted 2026-09-15 · Read on arXiv

cs.RO

Submitted: 2026-09-15

Updated: 2026-09-15

Code: https://github.com/jizhang-cmu/autonomy

Terminology

• Grounding — 38× in this paper · explained in 3 episodes
• Benchmark — 21× in this paper · explained in 2 episodes
• Verification — 7× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Benchmarking — 2× in this paper · explained in 3 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Task Planning — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Cooperation — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Evaluation Dimensions — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Hard Constraint Score — 1× in this paper
• Verifier — 1× in this paper · explained in 2 episodes

Sources

• SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning
• NORM-Nav: Zero-Shot Mobile Robot Navigation with Natural Language Behavioral Constraints
• Goal2Pixel: Grounding Goals to Pixels for Vision-Language Navigation
• ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects
• IntentNav: Learning Spatial-Visual Object Navigation from Human Demonstrations
• AI2-THOR: An Interactive 3D Environment for Visual AI

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