{"id":"https://openalex.org/W4415088656","doi":"https://doi.org/10.1109/icra57385.2026.11696465","title":"AssemMate: Graph-Based LLM for Robotic Assembly Assistance","display_name":"AssemMate: Graph-Based LLM for Robotic Assembly Assistance","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W4415088656","doi":"https://doi.org/10.1109/icra57385.2026.11696465"},"language":"en","primary_location":{"id":"doi:10.1109/icra57385.2026.11696465","doi":"https://doi.org/10.1109/icra57385.2026.11696465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57385.2026.11696465","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2509.11617","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101610027","display_name":"Qi Zheng","orcid":"https://orcid.org/0000-0001-6879-8256","observed_orcids":["https://orcid.org/0000-0001-6879-8256"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Zheng","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chaoran Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoran Zhang","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006905484","display_name":"Zijian Liang","orcid":"https://orcid.org/0009-0003-8919-4592","observed_orcids":["https://orcid.org/0009-0003-8919-4592"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zijian Liang","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"EnTe Lin","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"EnTe Lin","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shubo Cui","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shubo Cui","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102001322","display_name":"Qiang Xie","orcid":"https://orcid.org/0009-0000-6538-7742","observed_orcids":["https://orcid.org/0009-0000-6538-7742","https://orcid.org/0009-0000-9590-638X"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinghongbing Xie","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030853753","display_name":"Zhaobo Xu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaobo Xu","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":null,"display_name":"Long Zeng","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Zeng","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":5.5584,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.96810786,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8930","last_page":"8937"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9804999828338623,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9804999828338623,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.002400000113993883,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.002199999988079071,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/knowledge-graphs","display_name":"knowledge graphs","score":0.6299999952316284},{"id":"https://openalex.org/keywords/knowledge-graph-question-answering","display_name":"knowledge graph question answering","score":0.9430000185966492},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.984000027179718},{"id":"https://openalex.org/keywords/graph-convolutional-networks","display_name":"graph convolutional networks","score":0.8809999823570251},{"id":"https://openalex.org/keywords/real-time-reasoning","display_name":"real-time reasoning","score":0.6650000214576721}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7307999730110168},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.54339998960495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.503600001335144},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.4812000095844269},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47279998660087585},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.41429999470710754},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.41350001096725464},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4043999910354614},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.40400001406669617},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3952000141143799},{"id":"https://openalex.org/C2987255567","wikidata":"https://www.wikidata.org/wiki/Q33002955","display_name":"Knowledge graph","level":2,"score":0.3912000060081482},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39079999923706055},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.38019999861717224},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.31299999356269836},{"id":"https://openalex.org/C207685749","wikidata":"https://www.wikidata.org/wiki/Q2088941","display_name":"Domain knowledge","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.29490000009536743},{"id":"https://openalex.org/C44291984","wikidata":"https://www.wikidata.org/wiki/Q1074173","display_name":"Question answering","level":2,"score":0.27320000529289246},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C84685590","wikidata":"https://www.wikidata.org/wiki/Q1540472","display_name":"Knowledge engineering","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C115925183","wikidata":"https://www.wikidata.org/wiki/Q1412694","display_name":"Knowledge-based systems","level":2,"score":0.26440000534057617}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra57385.2026.11696465","doi":"https://doi.org/10.1109/icra57385.2026.11696465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57385.2026.11696465","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2509.11617","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.11617","pdf_url":"https://arxiv.org/pdf/2509.11617","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2509.11617","doi":"https://doi.org/10.48550/arxiv.2509.11617","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2509.11617","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2509.11617","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.11617","pdf_url":"https://arxiv.org/pdf/2509.11617","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G4264659296","display_name":null,"funder_award_id":"92467204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4415088656.pdf","grobid_xml":"https://content.openalex.org/works/W4415088656.grobid-xml"},"referenced_works_count":5,"referenced_works":["https://openalex.org/W4322718191","https://openalex.org/W4327810158","https://openalex.org/W4399695759","https://openalex.org/W4401307635","https://openalex.org/W4404303854"],"related_works":["https://openalex.org/W4407598244","https://openalex.org/W7105083990","https://openalex.org/W4415252778","https://openalex.org/W4403678185","https://openalex.org/W4404789867","https://openalex.org/W4413918004","https://openalex.org/W7162104019","https://openalex.org/W7154111115","https://openalex.org/W7220409236","https://openalex.org/W4413948253"],"abstract_inverted_index":{"Large":[0],"Language":[1],"Model":[2],"(LLM)-based":[3],"robotic":[4,202],"assembly":[5,22,100],"assistance":[6],"has":[7],"gained":[8],"significant":[9],"research":[10],"attention.":[11],"It":[12],"requires":[13],"the":[14,21,38,46,56,75,146,217],"injection":[15],"of":[16,40,82],"domain-specific":[17],"knowledge":[18,36,83,91,130],"to":[19,45,54,66,118,148,159],"guide":[20],"process":[23],"through":[24,201],"natural":[25,41],"language":[26,42],"interaction":[27,98],"with":[28,120,142],"humans.":[29],"Despite":[30],"some":[31],"progress,":[32],"existing":[33,171],"methods":[34],"represent":[35],"in":[37,163,205],"form":[39,81],"text.":[43],"Due":[44],"long":[47],"context":[48,185],"and":[49,61,79,99,115,133,139,167,181,208],"redundant":[50],"content,":[51],"they":[52],"struggle":[53],"meet":[55],"robots'":[57],"requirements":[58],"for":[59,103],"real-time":[60],"precise":[62],"reasoning.":[63],"In":[64,152],"order":[65],"bridge":[67],"this":[68],"gap,":[69],"we":[70],"present":[71],"AssemMate,":[72],"which":[73],"utilizes":[74],"graph\\textemdash":[76],"a":[77,123,136,154],"concise":[78],"accurate":[80],"representation\\textemdash":[84],"as":[85],"input.":[86],"This":[87],"graph-based":[88],"LLM":[89,147],"enables":[90],"graph":[92,131,150],"question":[93],"answering":[94],"(KGQA),":[95],"supporting":[96],"human-robot":[97],"task":[101],"planning":[102],"specific":[104],"products.":[105],"Beyond":[106],"interactive":[107],"QA,":[108],"AssemMate":[109,169],"also":[110],"supports":[111],"sensing":[112],"stacked":[113,161],"scenes":[114,162],"executing":[116],"grasping":[117,203],"assist":[119],"assembly.":[121],"Specifically,":[122],"self-supervised":[124],"Graph":[125],"Convolutional":[126],"Network":[127],"(GCN)":[128],"encodes":[129],"entities":[132],"relations":[134],"into":[135],"latent":[137],"space":[138],"aligns":[140],"them":[141],"LLM's":[143],"representation,":[144],"enabling":[145],"understand":[149],"information.":[151],"addition,":[153],"vision-enhanced":[155],"strategy":[156],"is":[157],"employed":[158],"address":[160],"grasping.":[164],"Through":[165],"training":[166],"evaluation,":[168],"outperforms":[170],"methods,":[172],"achieving":[173],"6.4\\%":[174],"higher":[175],"accuracy,":[176],"3":[177],"times":[178,183],"faster":[179],"inference,":[180],"28":[182],"shorter":[184],"length,":[186],"while":[187],"demonstrating":[188],"strong":[189],"generalization":[190],"ability":[191],"on":[192,216],"random":[193],"graphs.":[194],"And":[195],"our":[196],"approach":[197],"further":[198],"demonstrates":[199],"superiority":[200],"experiments":[204],"both":[206],"simulated":[207],"real-world":[209],"settings.":[210],"More":[211],"details":[212],"can":[213],"be":[214],"found":[215],"project":[218],"page:":[219],"https://github.com/cristina304/AssemMate.git":[220]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2025-10-12T00:00:00"}
