ADM-Planner: LLM-Guided Long-Horizon Planning for Mobile Manipulators with Attention-Enhanced Dynamic Memory

arXiv:2609.29212 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Comments: 8 pages

Project page: https://xjp99v5.github.io/ADM-Planner

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Grounding — 3× in this paper · explained in 3 episodes
• Affordance — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Tokenization — 2× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Core — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Multi-Agent System — 1× in this paper · explained in 6 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Task Decomposition — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes

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