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/.
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Publication details
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- Green open access
Cite this article
APA 7
Bao, M., Xu, H., Tang, J., Liu, Z., Cai, Y., Lv, C., Wang, W., & Zhang, J. (2026). Map2Route: Benchmarking Compositional Language-Grounded Route Planning over Semantic Maps. https://omanscience.com/en/articles/map2route-benchmarking-compositional-language-grounded-route-planning-over-semantic-maps
MLA 9
Bao, Muyi, et al. "Map2Route: Benchmarking Compositional Language-Grounded Route Planning over Semantic Maps." https://omanscience.com/en/articles/map2route-benchmarking-compositional-language-grounded-route-planning-over-semantic-maps.
Chicago (author–date)
Bao, Muyi, Hang Xu, Jingfan Tang, Zihan Liu, Yuxin Cai, Chen Lv, Wenshan Wang, and Ji Zhang. 2026. "Map2Route: Benchmarking Compositional Language-Grounded Route Planning over Semantic Maps." https://omanscience.com/en/articles/map2route-benchmarking-compositional-language-grounded-route-planning-over-semantic-maps.
Harvard
Bao, M., Xu, H., Tang, J., Liu, Z., Cai, Y., Lv, C., Wang, W. and Zhang, J. (2026) 'Map2Route: Benchmarking Compositional Language-Grounded Route Planning over Semantic Maps', Available at: https://omanscience.com/en/articles/map2route-benchmarking-compositional-language-grounded-route-planning-over-semantic-maps.
Vancouver
Bao M, Xu H, Tang J, Liu Z, Cai Y, Lv C, et al. Map2Route: Benchmarking Compositional Language-Grounded Route Planning over Semantic Maps. https://omanscience.com/en/articles/map2route-benchmarking-compositional-language-grounded-route-planning-over-semantic-maps
IEEE
M. Bao, H. Xu, J. Tang, Z. Liu, Y. Cai, C. Lv, W. Wang, and J. Zhang, "Map2Route: Benchmarking Compositional Language-Grounded Route Planning over Semantic Maps," https://omanscience.com/en/articles/map2route-benchmarking-compositional-language-grounded-route-planning-over-semantic-maps.