From Words to Waypoints: Teaching a Small LLM to Plan for Robots

A blog post from November 2026 describes training Qwen3.5-9B with reinforcement learning to act as a robot motion planner, turning temporal-logic task specifications into timed waypoint paths. The authors frame it as a feasibility study against a MILP solver and a larger reference model, DeepSeek-V4.1-Flash-1017.