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arXiv:2607. 14252v1 Announce Type: cross Abstract: Long-horizon robot planning requires more than predicting what actions will do next; it also requires memory of the embodied experience that makes future goals interpretable.
The paper introduces STEP, a State‑Aware Task Estimator and Planner that uses multi‑modal large language models to explicitly estimate system states and predict state transitions during task planning. By forecasting future states alongside actions, STEP reduces hallucinated actions and improves task‑convergent planning. In a simulated robot assembly task, STEP outperforms the state‑of‑the‑art by 32.8% in action executability and 14.8% in final‑state error.
arXiv:2606. 10208v1 Announce Type: cross Abstract: Demand for older-adult and patient care is growing rapidly as populations age worldwide.
The paper introduces CLUE, a framework that lets robots actively resolve contextual uncertainty for underspecified natural language tasks. CLUE employs an LLM-derived policy to generate task-relevant hypotheses and plans, then uses an online language-embedded map to ground these into actions, refining its plan through closed-loop interaction. Experiments on a Boston Dynamics Spot across diverse indoor and outdoor settings show CLUE achieving near-oracle performance and outperforming LLM planners without closed-loop feedback by a significant margin.
Long-term physical coexistence with intelligent robots requires more than capable robot policies. A persistent robotic assistant must support diverse user-facing interfaces, maintain long-horizon memory of people and preferences, coordinate across robot embodiments, and translate human intent into safe physical execution.
arXiv:2608. 16806v1 Announce Type: cross Abstract: Large Language Models (LLMs) have demonstrated capabilities in in-context learning, task decomposition, step-by-step reasoning, and code generation, driving their gradual evolution from text generation models into the core of agents capable of perceiving environments, invoking tools, and executing tasks.