{"ID":22918821,"CreatedAt":"2026-09-17T01:02:08.507062015Z","UpdatedAt":"2026-09-20T18:11:56.143995915Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2609.17910","arxiv_id":"2609.17910","title":"Map2Route: Benchmarking Compositional Language-Grounded Route Planning over Semantic Maps","abstract":"We introduce Map2Route, a human-curated benchmark for compositional language-grounded route planning over pre-built semantic maps. Map2Route contains 1,000 episodes across 40 scenes, where instructions use relational, comparative, and nested descriptions to identify route-relevant objects and regions, while specifying ordered must-pass regions, must-avoid requirements, five categories of soft preferences, and spatial and route-stage scopes, which is partially tested by existing works. Alongside Map2Route, we propose Grounding2Route, which combines executable code-as-grounding with verification-guided repair and scope-aware planning.Across seven representative adapted baselines, Grounding2Route substantially outperforms existing methods in all metrics. Despite these gains, a substantial gap to human demonstrations remains, highlighting the difficulty of Map2Route and the considerable headroom for future progress. Additional qualitative results and resources are available on https://anonymous.4open.science/w/Map2Route-F05F/.","short_abstract":"We introduce Map2Route, a human-curated benchmark for compositional language-grounded route planning over pre-built semantic maps. Map2Route contains 1,000 episodes across 40 scenes, where instructions use relational, comparative, and nested descriptions to identify route-relevant objects and regions, while specifying...","url_abs":"https://arxiv.org/abs/2609.17910","url_pdf":"https://arxiv.org/pdf/2609.17910v1","authors":"[\"Muyi Bao\",\"Hang Xu\",\"Jingfan Tang\",\"Zihan Liu\",\"Yuxin Cai\",\"Chen Lv\",\"Wenshan Wang\",\"Ji Zhang\"]","published":"2026-09-15T23:11:47Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","project_urls":"[\"https://anonymous.4open.science/w/Map2Route-F05F/\"]","has_code":false}