{"id":"https://openalex.org/W4416749276","doi":"https://doi.org/10.1109/iros60139.2025.11246638","title":"CLEA: Closed-Loop Embodied Agent for Enhancing Task Execution in Dynamic Environments","display_name":"CLEA: Closed-Loop Embodied Agent for Enhancing Task Execution in Dynamic Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749276","doi":"https://doi.org/10.1109/iros60139.2025.11246638"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5031389216","display_name":"Lei Mo","orcid":"https://orcid.org/0000-0001-8586-7508"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingcong Lei","raw_affiliation_strings":["The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088385290","display_name":"Ge Wang","orcid":"https://orcid.org/0000-0003-3439-0337"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ge Wang","raw_affiliation_strings":["The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039958973","display_name":"Yiming Zhao","orcid":"https://orcid.org/0000-0001-9930-8635"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Zhao","raw_affiliation_strings":["The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116293230","display_name":"Zhixin Mai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhixin Mai","raw_affiliation_strings":["The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365848","display_name":"Qing Zhao","orcid":"https://orcid.org/0000-0003-3437-533X"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Zhao","raw_affiliation_strings":["The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018695663","display_name":"Yao Guo","orcid":"https://orcid.org/0000-0001-8041-1245"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Guo","raw_affiliation_strings":["Shanghai Jiao Tong University,Institute of Medical Robotics, School of Biomedical Engineering,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Institute of Medical Robotics, School of Biomedical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107914677","display_name":"Zhen Li","orcid":"https://orcid.org/0000-0002-5685-3163"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Li","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Science and Engineering (SSE), FNii-Shenzhen, and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Science and Engineering (SSE), FNii-Shenzhen, and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009164482","display_name":"Shuguang Cui","orcid":"https://orcid.org/0000-0003-2608-775X"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuguang Cui","raw_affiliation_strings":["The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101198400","display_name":"Yatong Han","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yatong Han","raw_affiliation_strings":["The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen) and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036242436","display_name":"Jinke Ren","orcid":"https://orcid.org/0000-0002-7409-6127"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinke Ren","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Science and Engineering (SSE), FNii-Shenzhen, and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Science and Engineering (SSE), FNii-Shenzhen, and Guangdong Provincial Key Laboratory of Future Networks of Intelligence,Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42443184,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21048","last_page":"21054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7339000105857849,"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":0.7339000105857849,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.060499999672174454,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.03220000118017197,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.7077999711036682},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6029999852180481},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5745000243186951},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5590999722480774},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.5533000230789185},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5097000002861023},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.48570001125335693},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4275999963283539},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.38370001316070557}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7930999994277954},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.7077999711036682},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6029999852180481},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5745000243186951},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5590999722480774},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.5533000230789185},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5210999846458435},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5097000002861023},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.48570001125335693},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4275999963283539},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.421099990606308},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.38370001316070557},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3824999928474426},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.382099986076355},{"id":"https://openalex.org/C2776834041","wikidata":"https://www.wikidata.org/wiki/Q25346349","display_name":"Execution model","level":2,"score":0.3589000105857849},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.3312999904155731},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.326200008392334},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C2989134064","wikidata":"https://www.wikidata.org/wiki/Q288510","display_name":"Execution time","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.3041999936103821},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2989000082015991},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2720000147819519},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.265500009059906},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.25769999623298645},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2168359464","https://openalex.org/W4390874280","https://openalex.org/W4401414318","https://openalex.org/W4405787555","https://openalex.org/W4413925704","https://openalex.org/W4413925973"],"related_works":[],"abstract_inverted_index":{"Large":[0],"Language":[1],"Models":[2],"(LLMs)":[3],"exhibit":[4],"remarkable":[5],"capabilities":[6],"in":[7,20,25,36,44,121,153,160,178],"the":[8,84,146,171],"hierarchical":[9,105],"decomposition":[10],"of":[11,29,101,173],"complex":[12],"tasks":[13],"through":[14],"semantic":[15],"reasoning.":[16],"However,":[17],"their":[18],"application":[19],"embodied":[21],"systems":[22],"faces":[23],"challenges":[24],"ensuring":[26],"reliable":[27],"execution":[28,90,177],"subtask":[30],"sequences":[31],"and":[32,87,136,156,176],"achieving":[33,149],"one-shot":[34],"success":[35,154],"long-term":[37],"task":[38,65,75,142,161,174],"completion.":[39],"To":[40,114],"address":[41],"these":[42],"limitations":[43],"dynamic":[45,179],"environments,":[46],"we":[47,118],"propose":[48],"Closed-Loop":[49],"Embodied":[50],"Agent":[51],"(CLEA)\u2014a":[52],"novel":[53],"architecture":[54],"incorporating":[55],"four":[56],"specialized":[57],"open-source":[58],"LLMs":[59],"with":[60,125],"functional":[61],"decoupling":[62],"for":[63,132],"closed-loop":[64],"management.":[66],"The":[67],"framework":[68,95],"features":[69],"two":[70,129],"core":[71],"innovations:":[72],"(1)":[73],"Interactive":[74],"planner":[76],"that":[77,167],"dynamically":[78],"generates":[79],"executable":[80],"subtasks":[81],"based":[82],"on":[83],"environmental":[85,109],"memory,":[86],"(2)":[88],"Multimodal":[89],"critic":[91],"employing":[92],"an":[93],"evaluation":[94],"to":[96],"conduct":[97,119],"a":[98,122,150,157],"probabilistic":[99],"assessment":[100],"action":[102],"feasibility,":[103],"triggering":[104],"re-planning":[106],"mechanisms":[107],"when":[108],"perturbations":[110],"exceed":[111],"preset":[112],"thresholds.":[113],"validate":[115],"CLEA\u2019s":[116],"effectiveness,":[117],"experiments":[120],"real":[123],"environment":[124],"manipulable":[126],"objects,":[127],"using":[128],"heterogeneous":[130],"robots":[131],"object":[133],"search,":[134],"manipulation,":[135],"search-manipulation":[137],"integration":[138],"tasks.":[139],"Across":[140],"12":[141],"trials,":[143],"CLEA":[144,168],"outperforms":[145],"baseline":[147],"model,":[148],"67.3%":[151],"improvement":[152],"rate":[155],"52.8%":[158],"increase":[159],"completion":[162],"rate.":[163],"These":[164],"results":[165],"demonstrate":[166],"significantly":[169],"enhances":[170],"robustness":[172],"planning":[175],"environments.":[180],"Our":[181],"code":[182],"is":[183],"available":[184],"at":[185],"https://sp4595.github.io/CLEA/.":[186]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}
