{"id":"https://openalex.org/W4417045665","doi":"https://doi.org/10.1007/s44230-025-00122-5","title":"Knowledge Enhanced Efficient Robotic Decision Making with Intuitive-Deliberate LLMs","display_name":"Knowledge Enhanced Efficient Robotic Decision Making with Intuitive-Deliberate LLMs","publication_year":2025,"publication_date":"2025-12-05","ids":{"openalex":"https://openalex.org/W4417045665","doi":"https://doi.org/10.1007/s44230-025-00122-5"},"language":"en","primary_location":{"id":"doi:10.1007/s44230-025-00122-5","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44230-025-00122-5","pdf_url":null,"source":{"id":"https://openalex.org/S4210207486","display_name":"Human-Centric Intelligent Systems","issn_l":"2667-1336","issn":["2667-1336"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Human-Centric Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1007/s44230-025-00122-5","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037478980","display_name":"Long Yang","orcid":"https://orcid.org/0000-0002-9363-2044"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Yang","raw_affiliation_strings":["School of Computing and Artificial Intelligence, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Artificial Intelligence, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085348492","display_name":"Haonan Luo","orcid":"https://orcid.org/0000-0002-9121-2687"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haonan Luo","raw_affiliation_strings":["School of Computing and Artificial Intelligence, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Artificial Intelligence, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076099962","display_name":"Kexun Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kexun Chen","raw_affiliation_strings":["School of Computing and Artificial Intelligence, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Artificial Intelligence, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101318651","display_name":"Zhixuan Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhixuan Shen","raw_affiliation_strings":["School of Computing and Artificial Intelligence, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Artificial Intelligence, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070559820","display_name":"Tianrui Li","orcid":"https://orcid.org/0000-0001-7780-104X"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianrui Li","raw_affiliation_strings":["School of Computing and Artificial Intelligence, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Artificial Intelligence, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5085348492"],"corresponding_institution_ids":["https://openalex.org/I4800084"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35433495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":"4","first_page":"482","last_page":"496"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.935699999332428,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.935699999332428,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.005799999926239252,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.004100000020116568,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/intuition","display_name":"Intuition","score":0.6736999750137329},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.49639999866485596},{"id":"https://openalex.org/keywords/incremental-learning","display_name":"Incremental learning","score":0.38929998874664307},{"id":"https://openalex.org/keywords/decision-tree","display_name":"Decision tree","score":0.3637999892234802},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.357699990272522},{"id":"https://openalex.org/keywords/domain-knowledge","display_name":"Domain knowledge","score":0.34060001373291016},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.3375999927520752},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.33550000190734863}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7368999719619751},{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.6736999750137329},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49950000643730164},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.49639999866485596},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4244000017642975},{"id":"https://openalex.org/C2780735816","wikidata":"https://www.wikidata.org/wiki/Q28324931","display_name":"Incremental learning","level":2,"score":0.38929998874664307},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3887999951839447},{"id":"https://openalex.org/C84525736","wikidata":"https://www.wikidata.org/wiki/Q831366","display_name":"Decision tree","level":2,"score":0.3637999892234802},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.357699990272522},{"id":"https://openalex.org/C207685749","wikidata":"https://www.wikidata.org/wiki/Q2088941","display_name":"Domain knowledge","level":2,"score":0.34060001373291016},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.33550000190734863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31439998745918274},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3142000138759613},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3068000078201294},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.29440000653266907},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.29339998960494995},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2727999985218048},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.271699994802475},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2533000111579895}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s44230-025-00122-5","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44230-025-00122-5","pdf_url":null,"source":{"id":"https://openalex.org/S4210207486","display_name":"Human-Centric Intelligent Systems","issn_l":"2667-1336","issn":["2667-1336"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Human-Centric Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:18a64f7499924e279dcbed5701e0bfa9","is_oa":true,"landing_page_url":"https://doaj.org/article/18a64f7499924e279dcbed5701e0bfa9","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Human-Centric Intelligent Systems, Vol 5, Iss 4, Pp 482-496 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s44230-025-00122-5","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44230-025-00122-5","pdf_url":null,"source":{"id":"https://openalex.org/S4210207486","display_name":"Human-Centric Intelligent Systems","issn_l":"2667-1336","issn":["2667-1336"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Human-Centric Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1999244633","https://openalex.org/W2076518796","https://openalex.org/W2145339207","https://openalex.org/W2963150697","https://openalex.org/W2964339842","https://openalex.org/W2967853831","https://openalex.org/W2986357018","https://openalex.org/W3009928773","https://openalex.org/W3173993018","https://openalex.org/W4221163448","https://openalex.org/W4313180266","https://openalex.org/W4383066272","https://openalex.org/W4385416186","https://openalex.org/W4386075839","https://openalex.org/W4386083032","https://openalex.org/W4389666115","https://openalex.org/W4389667169","https://openalex.org/W4390874575","https://openalex.org/W4392939491","https://openalex.org/W4401042437","https://openalex.org/W4401414212","https://openalex.org/W4401417061","https://openalex.org/W4401417236","https://openalex.org/W4402754246","https://openalex.org/W4411403346","https://openalex.org/W4413917742","https://openalex.org/W4414950803","https://openalex.org/W4416748606"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Recent":[1],"advancements":[2],"in":[3,11],"Large":[4],"Language":[5],"Models":[6],"(LLMs)":[7],"offer":[8],"powerful":[9],"capabilities":[10],"common":[12],"sense":[13],"reasoning":[14],"and":[15,47,56,120,130,160],"planning,":[16],"making":[17],"them":[18],"a":[19,48,69,88,111,127,131,156,161],"promising":[20],"tool":[21],"for":[22,135,189],"Object":[23],"Goal":[24],"Navigation":[25,132],"(ObjectNav).":[26],"However,":[27],"existing":[28,171],"LLM-based":[29,193],"approaches":[30],"face":[31],"two":[32,107],"significant":[33],"challenges:":[34],"the":[35,52,57,95,104,117,141,145],"high":[36],"computational":[37,99],"cost":[38],"of":[39,60,123],"LLM":[40,105],"inference,":[41],"which":[42,97],"limits":[43],"real-time":[44,192],"decision":[45],"making,":[46],"domain":[49],"gap":[50],"between":[51],"LLMs\u2019":[53],"general-purpose":[54],"knowledge":[55,109],"specific":[58],"demands":[59],"navigation":[61,71,178],"scenarios.":[62],"To":[63],"overcome":[64],"these":[65],"challenges,":[66],"we":[67],"propose":[68],"Knowledge-Enhanced":[70],"framework":[72,129,188],"with":[73,106],"an":[74,80,186],"Intuitive-Deliberate":[75,81],"mechanism":[76,82],"(KEID).":[77],"KEID":[78,102,154],"employs":[79],"that":[83,115,153],"mimics":[84],"human":[85],"cognition,":[86],"using":[87],"lightweight":[89],"intuition":[90],"module":[91],"to":[92],"strategically":[93],"invoke":[94],"LLM,":[96],"reduces":[98],"overhead.":[100],"Meanwhile,":[101],"enhances":[103,182],"specialized":[108],"bases:":[110],"Scene":[112],"Description":[113],"Tree":[114],"describes":[116],"complex":[118],"spatial":[119],"semantic":[121],"relationships":[122],"indoor":[124],"environments":[125],"within":[126,144],"hierarchical":[128],"Example":[133],"database":[134],"in-context":[136],"learning":[137],"adaptation.":[138],"Evaluations":[139],"on":[140],"HM3D":[142],"dataset":[143],"Habitat":[146],"simulator":[147],"validate":[148],"our":[149],"method\u2019s":[150],"efficacy,":[151],"demonstrating":[152],"achieves":[155],"47.1%":[157],"success":[158,164],"rate":[159],"competitive":[162],"18.8%":[163],"weighted":[165],"by":[166],"path":[167],"length,":[168],"significantly":[169],"outperforming":[170],"baselines.":[172],"Our":[173],"work":[174],"not":[175],"only":[176],"improves":[177],"performance":[179],"but":[180],"also":[181],"decision-making":[183],"efficiency,":[184],"establishing":[185],"effective":[187],"developing":[190],"practical,":[191],"robotic":[194],"agents.":[195]},"counts_by_year":[],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-12-05T00:00:00"}
