Coding Agents for Generalized Task and Motion Planning Problems

arXiv:2609.30233 · cs.RO, cs.AI · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-24

Updated: 2026-09-24

Terminology

• Benchmark — 17× in this paper · explained in 2 episodes
• Abstraction — 7× in this paper · explained in 1 episode
• Action Space — 4× in this paper · explained in 1 episode
• Task Planning — 3× in this paper · explained in 2 episodes
• Benchmarking — 2× in this paper · explained in 3 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Large Language Models (LLMs) — 2× in this paper · explained in 6 episodes
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Agentic System — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Chain-of-Thought Prompting — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Scaffolding — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Frontier Large Language Models Rival State-of-the-Art Planners
• A Systematic Study of Large Language Models for Task and Motion Planning With PDDLStream
• RHO: Your Coding Agent is Secretly a Roboticist
• ASPIRE: Agentic /Skills Discovery for Robotics
• MEMENTO: Memory-Guided Memetic Code-as-Policy Evolution
• robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
• CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
• Demonstration-Free Robotic Control via LLM Agents

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