{"id":"https://openalex.org/W4413945190","doi":"https://doi.org/10.1109/icra55743.2025.11128414","title":"ConceptAgent: LLM-Driven Precondition Grounding and Tree Search for Robust Task Planning and Execution","display_name":"ConceptAgent: LLM-Driven Precondition Grounding and Tree Search for Robust Task Planning and Execution","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945190","doi":"https://doi.org/10.1109/icra55743.2025.11128414"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","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/A5003895515","display_name":"Corban G. Rivera","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156255","display_name":"Allentown Public Library","ror":"https://ror.org/0513d6k55","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210156255"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Corban Rivera","raw_affiliation_strings":["1JHU APL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"1JHU APL","institution_ids":["https://openalex.org/I4210156255"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Grayson Byrd","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156255","display_name":"Allentown Public Library","ror":"https://ror.org/0513d6k55","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210156255"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Grayson Byrd","raw_affiliation_strings":["1JHU APL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"1JHU APL","institution_ids":["https://openalex.org/I4210156255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110263262","display_name":"William Paul","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156255","display_name":"Allentown Public Library","ror":"https://ror.org/0513d6k55","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210156255"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Paul","raw_affiliation_strings":["1JHU APL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"1JHU APL","institution_ids":["https://openalex.org/I4210156255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109818766","display_name":"Tyler Feldman","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156255","display_name":"Allentown Public Library","ror":"https://ror.org/0513d6k55","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210156255"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tyler Feldman","raw_affiliation_strings":["1JHU APL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"1JHU APL","institution_ids":["https://openalex.org/I4210156255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023512421","display_name":"Meghan Booker","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156255","display_name":"Allentown Public Library","ror":"https://ror.org/0513d6k55","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210156255"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Meghan Booker","raw_affiliation_strings":["1JHU APL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"1JHU APL","institution_ids":["https://openalex.org/I4210156255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101517676","display_name":"Emma Holmes","orcid":"https://orcid.org/0009-0008-3986-1381"},"institutions":[{"id":"https://openalex.org/I4210156255","display_name":"Allentown Public Library","ror":"https://ror.org/0513d6k55","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210156255"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emma Holmes","raw_affiliation_strings":["1JHU APL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"1JHU APL","institution_ids":["https://openalex.org/I4210156255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020962797","display_name":"David A. Handelman","orcid":"https://orcid.org/0000-0001-9839-9539"},"institutions":[{"id":"https://openalex.org/I4210156255","display_name":"Allentown Public Library","ror":"https://ror.org/0513d6k55","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210156255"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Handelman","raw_affiliation_strings":["1JHU APL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"1JHU APL","institution_ids":["https://openalex.org/I4210156255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108940483","display_name":"Bethany Kemp","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156255","display_name":"Allentown Public Library","ror":"https://ror.org/0513d6k55","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210156255"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bethany Kemp","raw_affiliation_strings":["1JHU APL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"1JHU APL","institution_ids":["https://openalex.org/I4210156255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053435569","display_name":"Andrew R. Badger","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156255","display_name":"Allentown Public Library","ror":"https://ror.org/0513d6k55","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210156255"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Badger","raw_affiliation_strings":["1JHU APL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"1JHU APL","institution_ids":["https://openalex.org/I4210156255"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Aurora Schmidt","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156255","display_name":"Allentown Public Library","ror":"https://ror.org/0513d6k55","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210156255"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aurora Schmidt","raw_affiliation_strings":["1JHU APL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"1JHU APL","institution_ids":["https://openalex.org/I4210156255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047370393","display_name":"Krishna Murthy Jatavallabhula","orcid":"https://orcid.org/0000-0003-4927-3387"},"institutions":[{"id":"https://openalex.org/I4210109586","display_name":"Moscow Institute of Thermal Technology","ror":"https://ror.org/021es5e59","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210109586"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Krishna Murthy Jatavallabhula","raw_affiliation_strings":["MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT","institution_ids":["https://openalex.org/I4210109586"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066072868","display_name":"Celso M. de Melo","orcid":"https://orcid.org/0000-0003-2680-8334"},"institutions":[{"id":"https://openalex.org/I4210150771","display_name":"DevCom (Czechia)","ror":"https://ror.org/044jgn488","country_code":"CZ","type":"company","lineage":["https://openalex.org/I4210150771"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Celso M de Melo","raw_affiliation_strings":["DEVCOM ARL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEVCOM ARL","institution_ids":["https://openalex.org/I4210150771"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040765329","display_name":"Lalithkumar Seenivasan","orcid":"https://orcid.org/0000-0002-0103-1234"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lalithkumar Seenivasan","raw_affiliation_strings":["JHU"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JHU","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087095414","display_name":"Mathias Unberath","orcid":"https://orcid.org/0000-0002-0055-9950"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mathias Unberath","raw_affiliation_strings":["JHU"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JHU","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102762707","display_name":"Rama Chellappa","orcid":"https://orcid.org/0000-0002-7638-1650"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rama Chellappa","raw_affiliation_strings":["JHU"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JHU","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":15,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8084,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86734843,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8988","last_page":"8995"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9648000001907349,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9648000001907349,"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9553999900817871,"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"}},{"id":"https://openalex.org/T12127","display_name":"Software System Performance and Reliability","score":0.9516000151634216,"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/precondition","display_name":"Precondition","score":0.9301258325576782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7520123720169067},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7207225561141968},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5295066833496094},{"id":"https://openalex.org/keywords/ground","display_name":"Ground","score":0.4189439117908478},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.17178478837013245},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1628429889678955},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12648612260818481},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0814228355884552}],"concepts":[{"id":"https://openalex.org/C192465680","wikidata":"https://www.wikidata.org/wiki/Q1413450","display_name":"Precondition","level":2,"score":0.9301258325576782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7520123720169067},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7207225561141968},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5295066833496094},{"id":"https://openalex.org/C168993435","wikidata":"https://www.wikidata.org/wiki/Q6501125","display_name":"Ground","level":2,"score":0.4189439117908478},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.17178478837013245},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1628429889678955},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12648612260818481},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0814228355884552},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1625390266","https://openalex.org/W2119709400","https://openalex.org/W2147277731","https://openalex.org/W2201912979","https://openalex.org/W2236233024","https://openalex.org/W2947312908","https://openalex.org/W2953249127","https://openalex.org/W2962736495","https://openalex.org/W2990477050","https://openalex.org/W3035198432","https://openalex.org/W3207187156","https://openalex.org/W4292794823","https://openalex.org/W4312424618","https://openalex.org/W4382366145","https://openalex.org/W4385430679","https://openalex.org/W4390874280","https://openalex.org/W4390874575","https://openalex.org/W4399424243","https://openalex.org/W4404612908"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2294916142","https://openalex.org/W1581362285","https://openalex.org/W1988458526","https://openalex.org/W2953046944","https://openalex.org/W2185407019","https://openalex.org/W2368102490","https://openalex.org/W2585078317"],"abstract_inverted_index":{"Robotic":[0],"planning":[1,122,165],"and":[2,17,118,126,143,148,174,182,205,220,254,260,272],"execution":[3,109],"in":[4,25,74,110,123,239,269,276,282,303],"open-world":[5],"environments":[6],"is":[7],"a":[8,51,101,114,196,236,286,291],"complex":[9,124,270],"problem":[10],"due":[11,82,94],"to":[12,39,64,76,83,95,133,141,179,231,246,264],"the":[13,43,57,66,78,223,243,247,252,297],"vast":[14],"state":[15,125,271],"spaces":[16],"high":[18],"variability":[19],"of":[20,48,68,120,153,257,299],"task":[21,108,189,198,240,293],"embodiment.":[22],"Recent":[23],"advances":[24],"perception":[26,301],"algorithms,":[27],"combined":[28,255],"with":[29,91,159,167,184],"Large":[30],"Language":[31],"Models":[32],"(LLMs)":[33],"for":[34,54,107],"planning,":[35],"offer":[36],"promising":[37],"solutions":[38],"these":[40,135,164],"challenges,":[41],"as":[42],"common":[44],"sense":[45],"reasoning":[46,215],"capabilities":[47],"LLMs":[49],"provide":[50],"strong":[52],"heuristic":[53],"efficiently":[55],"searching":[56],"action":[58,127,273],"space.":[59],"However,":[60],"prior":[61],"work":[62],"fails":[63],"address":[65],"possibility":[67],"hallucinations":[69],"from":[70,145,242],"LLMs,":[71],"which":[72],"results":[73],"failures":[75],"execute":[77],"planned":[79],"actions":[80],"largely":[81],"logical":[84],"fallacies":[85],"at":[86],"high-or":[87],"low-levels.":[88],"To":[89],"contend":[90],"automation":[92,268],"failure":[93],"such":[96],"hallucinations,":[97],"we":[98,129],"introduce":[99],"ConceptAgent,":[100,250],"natural":[102],"language-driven":[103],"robotic":[104],"platform":[105],"designed":[106,132],"unstructured":[111],"environments.":[112],"With":[113],"focus":[115],"on":[116,222,229],"scalability":[117],"reliability":[119],"LLM-based":[121],"spaces,":[128],"present":[130],"innovations":[131],"limit":[134],"shortcomings,":[136],"including":[137],"1)":[138],"Predicate":[139,258],"Grounding":[140,259],"prevent":[142],"recover":[144],"infeasible":[146],"actions,":[147],"2)":[149],"an":[150],"embodied":[151,209,233],"version":[152],"LLM-guided":[154,261],"Monte":[155],"Carlo":[156],"Tree":[157,262],"Search":[158,263],"self":[160],"reflection.":[161],"ConceptAgent":[162,194],"combines":[163],"enhancements":[166],"dynamic":[168],"language":[169],"aligned":[170],"3d":[171],"scene":[172],"graphs,":[173],"large":[175],"multi-modal":[176],"pretrained":[177],"models":[178],"perceive,":[180],"localize,":[181],"interact":[183],"its":[185],"environment,":[186],"enabling":[187],"reliable":[188],"completion.":[190],"In":[191],"simulation":[192],"experiments,":[193],"achieved":[195,290],"19%":[197],"completion":[199,241,294],"rate":[200],"across":[201],"three":[202],"room":[203],"layouts":[204],"30":[206],"easy":[207],"level":[208],"tasks":[210,234],"outperforming":[211],"other":[212],"state-of-the-art":[213],"LLM-driven":[214],"baselines":[216],"that":[217],"scored":[218],"10.26%":[219],"8.11%":[221],"same":[224],"benchmark.":[225],"Additionally,":[226,275],"ablation":[227],"studies":[228],"moderate":[230],"hard":[232],"revealed":[235],"20%":[237],"increase":[238],"baseline":[244],"agent":[245],"fully":[248],"enhanced":[249],"highlighting":[251],"individual":[253],"contributions":[256],"enable":[265],"more":[266],"robust":[267],"spaces.":[274],"real-world":[277,304],"mobile":[278],"manipulation":[279],"trials,":[280],"conducted":[281],"randomized,":[283],"low-clutter":[284],"environments,":[285],"ConceptAgent-driven":[287],"Spot":[288],"robot":[289],"40%":[292],"rate,":[295],"demonstrating":[296],"performance":[298],"our":[300],"system":[302],"scenarios.":[305]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}