# Collision- and Reachability-Aware Multi-Robot Control with Grounded LLM Planners

arXiv: https://arxiv.org/abs/2505.20573 · HTML: https://mlsanity.com/paper/2505.20573/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 38 of its 47 references that are in the map.
- First posted on arXiv 26 May 2025.

## Builds on (most cited first, 30 of 38)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [HybridFlow: A Flexible and Efficient RLHF Framework](https://mlsanity.com/paper/2409.19256/) (2024)
- [High-Dimensional Continuous Control Using Generalized Advantage Estimation](https://mlsanity.com/paper/1506.02438/) (2015)
- [Search-R1: Training LLMs to Reason and Leverage Search Engines with Reinforcement Learning](https://mlsanity.com/paper/2503.09516/) (2025)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [SFT Memorizes, RL Generalizes: A Comparative Study of Foundation Model Post-training](https://mlsanity.com/paper/2501.17161/) (2025)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [VLM-R1: A Stable and Generalizable R1-style Large Vision-Language Model](https://mlsanity.com/paper/2504.07615/) (2025)
- [SimpleRL-Zoo: Investigating and Taming Zero Reinforcement Learning for Open Base Models in the Wild](https://mlsanity.com/paper/2503.18892/) (2025)
- [Quiet-STaR: Language Models Can Teach Themselves to Think Before Speaking](https://mlsanity.com/paper/2403.09629/) (2024)
- [DeepSeek-Prover-V2: Advancing Formal Mathematical Reasoning via Reinforcement Learning for Subgoal Decomposition](https://mlsanity.com/paper/2504.21801/) (2025)
- [Text2Motion: From Natural Language Instructions to Feasible Plans](https://mlsanity.com/paper/2303.12153/) (2023)
- [V-STaR: Training Verifiers for Self-Taught Reasoners](https://mlsanity.com/paper/2402.06457/) (2024)
- [Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planning](https://mlsanity.com/paper/2305.14909/) (2023)
- [ThinkPrune: Pruning Long Chain-of-Thought of LLMs via Reinforcement Learning](https://mlsanity.com/paper/2504.01296/) (2025)
- [MedVLM-R1: Incentivizing Medical Reasoning Capability of Vision-Language Models (VLMs) via Reinforcement Learning](https://mlsanity.com/paper/2502.19634/) (2025)
- [Competitive Programming with Large Reasoning Models](https://mlsanity.com/paper/2502.06807/) (2025)
- [AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers](https://mlsanity.com/paper/2306.06531/) (2023)
- [Agentic Reasoning and Tool Integration for LLMs via Reinforcement Learning](https://mlsanity.com/paper/2505.01441/) (2025)
- [Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems?](https://mlsanity.com/paper/2309.15943/) (2023)
- [Beyond A*: Better Planning with Transformers via Search Dynamics Bootstrapping](https://mlsanity.com/paper/2402.14083/) (2024)
- [Embodied LLM Agents Learn to Cooperate in Organized Teams](https://mlsanity.com/paper/2403.12482/) (2024)
- [What Makes a Reward Model a Good Teacher? An Optimization Perspective](https://mlsanity.com/paper/2503.15477/) (2025)
- [Errors are Useful Prompts: Instruction Guided Task Programming with Verifier-Assisted Iterative Prompting](https://mlsanity.com/paper/2303.14100/) (2023)
- [Syntactic and Semantic Control of Large Language Models via Sequential Monte Carlo](https://mlsanity.com/paper/2504.13139/) (2025)
- [Towards Efficient LLM Grounding for Embodied Multi-Agent Collaboration](https://mlsanity.com/paper/2405.14314/) (2024)

## Built on by (most cited first, 4 of 4)

- [Simulation to Rules: A Dual-VLM Framework for Formal Visual Planning](https://mlsanity.com/paper/2510.03182/) (2025)
- [HarnessLLM: Automatic Testing Harness Generation via Reinforcement Learning](https://mlsanity.com/paper/2511.01104/) (2025)
- [Speculate While You Reason: Teaching Agents to Predict Their Next Tool Call via Joint Agent-Speculator RL](https://mlsanity.com/paper/2607.25816/) (2026)
- [Navigating the Clutter: Waypoint-Based Bi-Level Planning for Multi-Robot Systems](https://mlsanity.com/paper/2604.21138/) (2026)

## Abstract (arXiv)

Large language models (LLMs) have demonstrated strong performance in various robot control tasks. However, their deployment in real-world applications remains constrained. Even state-ofthe-art LLMs, such as GPT-o4mini, frequently produce invalid action plans that violate physical constraints, such as directing a robot to an unreachable location or causing collisions between robots. This issue primarily arises from a lack of awareness of these physical constraints during the reasoning process. To address this issue, we propose a novel framework that integrates reinforcement learning with verifiable rewards (RLVR) to incentivize knowledge of physical constraints into LLMs to induce constraints-aware reasoning during plan generation. In this approach, only valid action plans that successfully complete a control task receive positive rewards. We applied our method to two small-scale LLMs: a non-reasoning Qwen2.5-3B-Instruct and a reasoning Qwen3-4B. The experiment results demonstrate that constraint-aware small LLMs largely outperform large-scale models without constraints, grounded on both the BoxNet task and a newly developed BoxNet3D environment built using MuJoCo. This work highlights the effectiveness of grounding even small LLMs with physical constraints to enable scalable and efficient multi-robot control in complex, physically constrained environments.