SHRIMP: Iterative Refinement of Robot Task Plans

arXiv:2608.08884 · cs.RO, cs.HC · Submitted 2026-08-09 · Read on arXiv

cs.RO, cs.HC

Submitted: 2026-08-09

Updated: 2026-10-26

Terminology

• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 3 episodes
• Iterative Refinement — 1× in this paper · explained in 5 episodes
• Language Models (LLMs) — 1× in this paper · explained in 2 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 9 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies