{"id":"https://openalex.org/W4404955232","doi":"https://doi.org/10.1109/humanoids58906.2024.10769803","title":"Robots Can Multitask Too: Integrating a Memory Architecture and LLMs for Enhanced Cross-Task Robot Action Generation","display_name":"Robots Can Multitask Too: Integrating a Memory Architecture and LLMs for Enhanced Cross-Task Robot Action Generation","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404955232","doi":"https://doi.org/10.1109/humanoids58906.2024.10769803"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids58906.2024.10769803","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769803","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065397477","display_name":"Hassan Ali","orcid":"https://orcid.org/0000-0001-9907-1834"},"institutions":[{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]},{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Hassan Ali","raw_affiliation_strings":["University of Hamburg,Knowledge Technology Group,Department of Informatics,Germany","Department of Informatics, Knowledge Technology Group, University of Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"University of Hamburg,Knowledge Technology Group,Department of Informatics,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Department of Informatics, Knowledge Technology Group, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071949865","display_name":"Philipp Allgeuer","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philipp Allgeuer","raw_affiliation_strings":["University of Hamburg,Knowledge Technology Group,Department of Informatics,Germany","Department of Informatics, Knowledge Technology Group, University of Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"University of Hamburg,Knowledge Technology Group,Department of Informatics,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Department of Informatics, Knowledge Technology Group, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064709143","display_name":"C Mazzola","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo Mazzola","raw_affiliation_strings":["Italian Institute of Technology,CONTACT Unit,Genoa,Italy","CONTACT Unit, Italian Institute of Technology, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,CONTACT Unit,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"CONTACT Unit, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058318646","display_name":"Giulia Belgiovine","orcid":"https://orcid.org/0000-0002-6376-9963"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulia Belgiovine","raw_affiliation_strings":["Italian Institute of Technology,CONTACT Unit,Genoa,Italy","CONTACT Unit, Italian Institute of Technology, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,CONTACT Unit,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"CONTACT Unit, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107632480","display_name":"Burak Can Kaplan","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Burak Can Kaplan","raw_affiliation_strings":["University of Hamburg,Knowledge Technology Group,Department of Informatics,Germany","Department of Informatics, Knowledge Technology Group, University of Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"University of Hamburg,Knowledge Technology Group,Department of Informatics,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Department of Informatics, Knowledge Technology Group, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058314463","display_name":"Luk\u00e1\u0161 Gajdo\u0161ech","orcid":"https://orcid.org/0000-0002-8646-2147"},"institutions":[{"id":"https://openalex.org/I74788687","display_name":"Comenius University Bratislava","ror":"https://ror.org/0587ef340","country_code":"SK","type":"education","lineage":["https://openalex.org/I74788687"]}],"countries":["SK"],"is_corresponding":false,"raw_author_name":"Luk\u00e1\u0161 Gajdo\u0161ech","raw_affiliation_strings":["Comenius University,Faculty of Mathematics, Physics and Informatics,Slovakia","Faculty of Mathematics, Physics and Informatics, Comenius University, Slovakia"],"affiliations":[{"raw_affiliation_string":"Comenius University,Faculty of Mathematics, Physics and Informatics,Slovakia","institution_ids":["https://openalex.org/I74788687"]},{"raw_affiliation_string":"Faculty of Mathematics, Physics and Informatics, Comenius University, Slovakia","institution_ids":["https://openalex.org/I74788687"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033486668","display_name":"Stefan Wermter","orcid":"https://orcid.org/0000-0003-1343-4775"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Wermter","raw_affiliation_strings":["University of Hamburg,Knowledge Technology Group,Department of Informatics,Germany","Department of Informatics, Knowledge Technology Group, University of Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"University of Hamburg,Knowledge Technology Group,Department of Informatics,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Department of Informatics, Knowledge Technology Group, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5065397477"],"corresponding_institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"],"apc_list":null,"apc_paid":null,"fwci":1.5218,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84623561,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"811","last_page":"818"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9983000159263611,"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":0.9983000159263611,"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":0.9937000274658203,"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"}},{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9861000180244446,"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/robot","display_name":"Robot","score":0.730521559715271},{"id":"https://openalex.org/keywords/cognitive-architecture","display_name":"Cognitive architecture","score":0.6955089569091797},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6746745109558105},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6362767219543457},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5426670908927917},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5129208564758301},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.47487446665763855},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4719879925251007},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4567389190196991},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43064066767692566},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.36604827642440796},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.343187153339386},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2675866186618805},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.21834170818328857},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16986706852912903}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.730521559715271},{"id":"https://openalex.org/C20854674","wikidata":"https://www.wikidata.org/wiki/Q4386060","display_name":"Cognitive architecture","level":3,"score":0.6955089569091797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6746745109558105},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6362767219543457},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5426670908927917},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5129208564758301},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.47487446665763855},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4719879925251007},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4567389190196991},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43064066767692566},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.36604827642440796},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.343187153339386},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2675866186618805},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.21834170818328857},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16986706852912903},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids58906.2024.10769803","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769803","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W2104667858","https://openalex.org/W2181792687","https://openalex.org/W2538140147","https://openalex.org/W2791549227","https://openalex.org/W2795885882","https://openalex.org/W2802954485","https://openalex.org/W2911219184","https://openalex.org/W2939062286","https://openalex.org/W2966064220","https://openalex.org/W3206072662","https://openalex.org/W4206244007","https://openalex.org/W4311000453","https://openalex.org/W4353094171","https://openalex.org/W4385573102","https://openalex.org/W4386215566","https://openalex.org/W4388145436","https://openalex.org/W4390306114","https://openalex.org/W4390329487","https://openalex.org/W4392971586","https://openalex.org/W4393147158","https://openalex.org/W4394838986","https://openalex.org/W4394973009","https://openalex.org/W4395065101","https://openalex.org/W4399794794","https://openalex.org/W4401415732","https://openalex.org/W4402801604","https://openalex.org/W4402819134","https://openalex.org/W4403307161","https://openalex.org/W4405787726","https://openalex.org/W4405787871","https://openalex.org/W6802517928","https://openalex.org/W6838157354","https://openalex.org/W6847363464","https://openalex.org/W6853628220","https://openalex.org/W6860206659","https://openalex.org/W6862995503","https://openalex.org/W6864723252","https://openalex.org/W6864752464","https://openalex.org/W6864976487","https://openalex.org/W6865102214","https://openalex.org/W6869589430","https://openalex.org/W6875719230"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2171912896","https://openalex.org/W2542221445","https://openalex.org/W177694623","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2133150803"],"abstract_inverted_index":{"Large":[0],"Language":[1],"Models":[2],"(LLMs)":[3],"have":[4],"been":[5],"recently":[6],"used":[7],"in":[8,32,42,111],"robot":[9,47,71,75],"applications":[10],"for":[11,68,128,135],"grounding":[12],"LLM":[13],"commonsense":[14],"reasoning":[15,92],"with":[16,66,97,126],"the":[17,46,74,121,130],"robot\u2019s":[18,131],"perception":[19,134],"and":[20,36,55,93,133],"physical":[21],"abilities.":[22],"In":[23,58],"humanoid":[24],"robots,":[25],"memory":[26,64,99,125],"also":[27],"plays":[28],"a":[29,98,108,114],"critical":[30],"role":[31],"fostering":[33],"real-world":[34],"embodiment":[35],"facilitating":[37],"long-term":[38],"interactive":[39],"capabilities,":[40],"especially":[41],"multi-task":[43],"setups":[44],"where":[45],"must":[48],"remember":[49],"previous":[50],"task":[51,137],"states,":[52,54],"environment":[53],"executed":[56],"actions.":[57],"this":[59],"paper,":[60],"we":[61],"address":[62],"incorporating":[63],"processes":[65],"LLMs":[67,127],"generating":[69],"cross-task":[70],"actions,":[72],"while":[73],"effectively":[76],"switches":[77],"between":[78],"tasks.":[79],"Our":[80,105],"proposed":[81],"dual-layered":[82],"architecture":[83],"features":[84],"two":[85],"LLMs,":[86],"utilizing":[87],"their":[88],"complementary":[89],"skills":[90],"of":[91,116,123],"following":[94],"instructions,":[95],"combined":[96],"model":[100],"inspired":[101],"by":[102],"human":[103],"cognition.":[104],"results":[106],"show":[107],"significant":[109],"improvement":[110],"performance":[112],"over":[113],"baseline":[115],"five":[117],"robotic":[118],"tasks,":[119],"demonstrating":[120],"potential":[122],"integrating":[124],"combining":[129],"action":[132],"adaptive":[136],"execution.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
