Structured World-State Reasoning for Agentic Robotic Search

arXiv:2609.23841 · cs.RO · Submitted 2026-09-20 · Read on arXiv

cs.RO

Submitted: 2026-09-20

Updated: 2026-09-20

Terminology

• Grounding — 16× in this paper · explained in 3 episodes
• Verification — 10× in this paper · explained in 2 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Structured World State — 4× in this paper
• Adaptation — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Provenance — 3× in this paper · explained in 4 episodes
• Visual Grounding — 3× in this paper · explained in 2 episodes
• Active Perception — 2× in this paper · explained in 2 episodes
• Affordance — 2× in this paper · explained in 1 episode
• Computer Vision and Pattern Recognition — 2× in this paper
• Conference on Robot Learning — 2× in this paper
• Core — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Agentic Retrieval — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Consistency — 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
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Point Cloud Data — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Verifier — 1× in this paper · explained in 2 episodes

Sources

• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• OpenVLA: An Open-Source Vision-Language-Action Model
• Inner Monologue: Embodied Reasoning through Planning with Language Models
• ReAct: Synergizing Reasoning and Acting in Language Models
• HTNav: A Hybrid Navigation Framework with Tiered Structure for Urban Aerial Vision-and-Language Navigation
• Exploring Spatial Representation to Enhance LLM Reasoning in Aerial Vision-Language Navigation
• ViSA-Enhanced Aerial VLN: A Visual-Spatial Reasoning Enhanced Framework for Aerial Vision-Language Navigation
• AirHunt: Bridging VLM Semantics and Continuous Planning for Efficient Aerial Object Navigation
• CLOSER-VLN: Closed-Loop Self-Verified Retrieval-Augmented Reasoning for Aerial Vision-Language Navigation
• Set-of-Mark Prompting Unleashes Extraordinary Visual Grounding in GPT-4V
• On Evaluation of Embodied Navigation Agents

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