OntoPlan: An Ontology-Grounded Scene Representation and Agentic Framework for Scalable Robot Task Planning

arXiv:2610.07649 · cs.RO · Submitted 2026-10-06 · Read on arXiv

cs.RO

Submitted: 2026-10-06

Updated: 2026-10-06

Comments: Accepted at NeurIPS 2026. 32 pages, 7 figures

Code: https://github.com/namhyeongwoo/OntoPlan

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

Terminology

• Agentic Framework — 1× in this paper · explained in 6 episodes
• Ontology — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes

Sources

• Translating Natural Language to Planning Goals with Large-Language Models
• LLM+P: Empowering Large Language Models with Optimal Planning Proficiency
• Novelty Adaptation Through Hybrid Large Language Model (LLM)-Symbolic Planning and LLM-guided Reinforcement Learning
• NL2Plan: Robust LLM-Driven Planning from Minimal Text Descriptions
• GPT-4o System Card

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