mlsanityData to 7 Oct 2026

LLM-A*: Large Language Model Enhanced Incremental Heuristic Search on Path Planning

arXiv 2407.02511 ↗First posted 20 Jun 2024cs.RO cs.AI cs.CLcited by 44

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Abstract (arXiv)

Path planning is a fundamental scientific problem in robotics and autonomous navigation, requiring the derivation of efficient routes from starting to destination points while avoiding obstacles. Traditional algorithms like A* and its variants are capable of ensuring path validity but suffer from significant computational and memory inefficiencies as the state space grows. Conversely, large language models (LLMs) excel in broader environmental analysis through contextual understanding, providing global insights into environments. However, they fall short in detailed spatial and temporal reasoning, often leading to invalid or inefficient routes. In this work, we propose LLM-A*, an new LLM based route planning method that synergistically combines the precise pathfinding capabilities of A* with the global reasoning capability of LLMs. This hybrid approach aims to enhance pathfinding efficiency in terms of time and space complexity while maintaining the integrity of path validity, especially in large-scale scenarios. By integrating the strengths of both methodologies, LLM-A* addresses the computational and memory limitations of conventional algorithms without compromising on the validity required for effective pathfinding.

Key facts. Cited by 44 papers in the map (data through 7 Oct 2026). Builds on 21 of its 51 references that are in the map. First posted on arXiv 20 Jun 2024.

Builds on

21 of 51 references.

References · 21

  1. 2022ReAct: Synergizing Reasoning and Acting in Language Modelscited by 8,355
  2. 2023Sparks of Artificial General Intelligence: Early experiments with GPT-4cited by 2,579
  3. 2020ALFWorld: Aligning Text and Embodied Environments for Interactive Learningcited by 1,143
  4. 2019ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Taskscited by 773
  5. 2023LLM+P: Empowering Large Language Models with Optimal Planning Proficiencycited by 496
  6. 2018TextWorld: A Learning Environment for Text-based Gamescited by 304
  7. 2023FireAct: Toward Language Agent Fine-tuningcited by 247
  8. 2023Reasoning or Reciting? Exploring the Capabilities and Limitations of Language Models Through Counterfactual Taskscited by 243
  9. 2023Take a Step Back: Evoking Reasoning via Abstraction in Large Language Modelscited by 157
  10. 2021Can Language Models Encode Perceptual Structure Without Grounding? A Case Study in Colorcited by 118
  11. 2023AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkerscited by 111
  12. 2020A Benchmark for Systematic Generalization in Grounded Language Understandingcited by 108
9 more
  1. 2024LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoningcited by 63
  2. 2023Can Large Language Models be Good Path Planners? A Benchmark and Investigation on Spatial-temporal Reasoningcited by 49
  3. 2019A Theoretical Analysis of the Number of Shots in Few-Shot Learningcited by 39
  4. 2014Theta*: Any-Angle Path Planning on Gridscited by 26
  5. 2021ReaSCAN: Compositional Reasoning in Language Groundingcited by 19
  6. 2024MANGO: A Benchmark for Evaluating Mapping and Navigation Abilities of Large Language Modelscited by 9
  7. 2023LACMA: Language-Aligning Contrastive Learning with Meta-Actions for Embodied Instruction Followingcited by 8
  8. 2023Planning as In-Painting: A Diffusion-Based Embodied Task Planning Framework for Environments under Uncertaintycited by 8
  9. 2023Are LLMs the Master of All Trades? : Exploring Domain-Agnostic Reasoning Skills of LLMscited by 7

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 7; 2025: 28; 2026: 9.

44 papers.

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  1. 2026A Survey of Agentic Reasoning for Large Language Models: Towards Recursively Self-Improving and Collective Agentscited by 47
  2. 2025A Survey of Test-Time Compute: From Intuitive Inference to Deliberate Reasoningcited by 40
  3. 2025Large Language Models for Planning: A Comprehensive and Systematic Surveycited by 38
  4. 2024Benchmarking Agentic Workflow Generationcited by 36
  5. 2024RethinkMCTS: Refining Erroneous Thoughts in Monte Carlo Tree Search for Code Generationcited by 25
  6. 2025A Survey on LLM Test-Time Compute via Search: Tasks, LLM Profiling, Search Algorithms, and Relevant Frameworkscited by 21
  7. 2025R2D2: Remembering, Replaying and Dynamic Decision Making with a Reflective Agentic Memorycited by 14
  8. 2025Is Your LLM-Based Multi-Agent a Reliable Real-World Planner? Exploring Fraud Detection in Travel Planningcited by 14
  9. 2026Neural Chain-of-Thought Search: Searching the Optimal Reasoning Path to Enhance Large Language Modelscited by 7
  10. 2024Evaluating Vision-Language Models as Evaluators in Path Planningcited by 6
  11. 2024TraveLLM: Could you plan my new public transit route in face of a network disruption?cited by 5
  12. 2025VLM-RRT: Vision Language Model Guided RRT Search for Autonomous UAV Navigationcited by 5
32 more
  1. 2025LLMAP: LLM-Assisted Multi-Objective Route Planning with User Preferencescited by 5
  2. 2025Offline Learning and Forgetting for Reasoning with Large Language Modelscited by 4
  3. 2025GridRoute: A Benchmark for LLM-Based Route Planning with Cardinal Movement in Grid Environmentscited by 4
  4. 2025Assessing the Value of Visual Input: A Benchmark of Multimodal Large Language Models for Robotic Path Planningcited by 4
  5. 2025StyleBench: Evaluating thinking styles in Large Language Modelscited by 4
  6. 2025Discovering Heuristics with Large Language Models (LLMs) for Mixed-Integer Programs: Single-Machine Schedulingcited by 4
  7. 2024Can LLMs plan paths with extra hints from solvers?cited by 3
  8. 2025Gricean Norms as a Basis for Effective Collaborationcited by 3
  9. 2025Generative AI for Autonomous Driving: A Reviewcited by 3
  10. 2025Constraint-Aware Route Recommendation from Natural Language via Hierarchical LLM Agentscited by 3
  11. 2024Can LLMs plan paths in the real world?cited by 2
  12. 2025From Reasoning to Generalization: Knowledge-Augmented LLMs for ARC Benchmarkcited by 2
  13. 2025LLM-ODDR: A Large Language Model Framework for Joint Order Dispatching and Driver Repositioningcited by 2
  14. 2025Learning Admissible Heuristics for A*: Theory and Practicecited by 2
  15. 2025Augmented Runtime Collaboration for Self-Organizing Multi-Agent Systems: A Hybrid Bi-Criteria Routing Approachcited by 2
  16. 2025LLM-Advisor: An LLM Advisor for Cost-efficient Path Planning across Multiple Terrainscited by 1
  17. 2025A 1000× Faster LLM-enhanced Algorithm For Path Planning in Large-scale Grid Mapscited by 1
  18. 2025Hierarchical Optimization via LLM-Guided Objective Evolution for Mobility-on-Demand Systemscited by 1
  19. 2025FutureWeaver: Planning Test-Time Compute for Multi-Agent Systems with Modularized Collaborationcited by 1
  20. 2026End-to-End LLM Flight Planning with RAG-based Memory and Multi-modal Coach Agentcited by 1
  21. 2024SCoTT: Strategic Chain-of-Thought Tasking for Wireless-Aware Robot Navigation in Digital Twinscited by 0
  22. 2025Semantic Intelligence: Integrating GPT-4 with A Planning in Low-Cost Roboticscited by 0
  23. 2025MARCO: Meta-Reflection with Cross-Referencing for Code Reasoningcited by 0
  24. 2025CompassLLM: A Multi-Agent Approach toward Geo-Spatial Reasoning for Popular Path Querycited by 0
  25. 2025Iti-Validator: A Guardrail Framework for Validating and Correcting LLM-Generated Itinerariescited by 0
  26. 2025Don't Just Search, Understand: Semantic Path Planning Agent for Spherical Tensegrity Robots in Unknown Environmentscited by 0
  27. 2026MMP-A*: Multimodal Perception Enhanced Incremental Heuristic Search on Path Planningcited by 0
  28. 2026Test-Driven Agentic Framework for Reliable Robot Controllercited by 0
  29. 2026U-Parking: Distributed UWB-Assisted Autonomous Parking System with Robust Localization and Intelligent Planningcited by 0
  30. 2026TransitLM: A Large-Scale Dataset and Benchmark for Map-Free Transit Route Generationcited by 0
  31. 2026LLM-Aided A* Search in Non-Geometric Network Graphscited by 0
  32. 2026Planning with Transformers: Chain of Computation and Structured Context Windowscited by 0

Similar, not cited

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  1. 2024LLM-Enhanced Path Planning: Safe and Efficient Autonomous Navigation with Instructional Inputs
  2. 2025AuDeRe: Automated Strategy Decision and Realization in Robot Planning and Control via LLMs
  3. 2026Semantic Risk-Aware Heuristic Planning for Robotic Navigation in Dynamic Environments: An LLM-Inspired Approach
  4. 2026Can LLMs Prove Robotic Path Planning Optimality? A Benchmark for Research-Level Algorithm Verification ↗
  5. 2025A Systematic Study of Large Language Models for Task and Motion Planning With PDDLStream
  6. 2025SmallPlan: Leverage Small Language Models for Sequential Path Planning with Simulation-Powered, LLM-Guided Distillation
  7. 2025Think Small, Plan Smart: Minimalist Symbolic Abstraction and Heuristic Subspace Search for LLM-Guided Task Planning
  8. 2026Spatial and Semantic Reasoning for LLM-Driven Robot Navigation via MCP