{"id":"https://openalex.org/W4402508473","doi":"https://doi.org/10.1109/lra.2024.3460408","title":"Action Contextualization: Adaptive Task Planning and Action Tuning Using Large Language Models","display_name":"Action Contextualization: Adaptive Task Planning and Action Tuning Using Large Language Models","publication_year":2024,"publication_date":"2024-09-13","ids":{"openalex":"https://openalex.org/W4402508473","doi":"https://doi.org/10.1109/lra.2024.3460408"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3460408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3460408","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/243694","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079456913","display_name":"Sthithpragya Gupta","orcid":"https://orcid.org/0000-0003-4625-7963"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sthithpragya Gupta","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Lausanne, Switzerland","Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-4625-7963","affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058432868","display_name":"Kunpeng Yao","orcid":"https://orcid.org/0000-0002-5839-081X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Kunpeng Yao","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Lausanne, Switzerland","Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-5839-081X","affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092973351","display_name":"Lo\u00efc Niederhauser","orcid":"https://orcid.org/0009-0005-9776-9223"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lo\u00efc Niederhauser","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Lausanne, Switzerland","Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Switzerland"],"raw_orcid":"https://orcid.org/0009-0005-9776-9223","affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Lausanne, Switzerland","Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7076-8010","affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.2765,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.94901332,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"11","first_page":"9407","last_page":"9414"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11902","display_name":"Intelligent Tutoring Systems and Adaptive Learning","score":0.857200026512146,"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"}},"topics":[{"id":"https://openalex.org/T11902","display_name":"Intelligent Tutoring Systems and Adaptive Learning","score":0.857200026512146,"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/T11122","display_name":"Online Learning and Analytics","score":0.7626000046730042,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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":0.6995000243186951,"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/contextualization","display_name":"Contextualization","score":0.9121363162994385},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.7635300755500793},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6752660274505615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.601532518863678},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14139249920845032},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10084956884384155},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09033691883087158},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.0729222297668457}],"concepts":[{"id":"https://openalex.org/C2780712339","wikidata":"https://www.wikidata.org/wiki/Q5165204","display_name":"Contextualization","level":3,"score":0.9121363162994385},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.7635300755500793},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6752660274505615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.601532518863678},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14139249920845032},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10084956884384155},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09033691883087158},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0729222297668457},{"id":"https://openalex.org/C527412718","wikidata":"https://www.wikidata.org/wiki/Q855395","display_name":"Interpretation (philosophy)","level":2,"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":2,"locations":[{"id":"doi:10.1109/lra.2024.3460408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3460408","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:20.500.14299/243694","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/243694","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:20.500.14299/243694","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/243694","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1830709610","display_name":null,"funder_award_id":"217882","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G7646171968","display_name":null,"funder_award_id":"101070596","funder_id":"https://openalex.org/F4320334322","funder_display_name":"HORIZON EUROPE Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"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":27,"referenced_works":["https://openalex.org/W2007820193","https://openalex.org/W2042538399","https://openalex.org/W2085545845","https://openalex.org/W2167293745","https://openalex.org/W2229480318","https://openalex.org/W2236233024","https://openalex.org/W2565552376","https://openalex.org/W3001865277","https://openalex.org/W3118038438","https://openalex.org/W3130851104","https://openalex.org/W3163019889","https://openalex.org/W3202187802","https://openalex.org/W4224912544","https://openalex.org/W4383097638","https://openalex.org/W4383108457","https://openalex.org/W4388720459","https://openalex.org/W4389665359","https://openalex.org/W4391128534","https://openalex.org/W4401414318","https://openalex.org/W4401417251","https://openalex.org/W4402508473","https://openalex.org/W6809509765","https://openalex.org/W6810738896","https://openalex.org/W6811467201","https://openalex.org/W6849843017","https://openalex.org/W6854929498","https://openalex.org/W6857123277"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W1687432146","https://openalex.org/W1591874556","https://openalex.org/W2185608106","https://openalex.org/W3046258185","https://openalex.org/W1548083239","https://openalex.org/W3216994056","https://openalex.org/W2268232908","https://openalex.org/W4395064753"],"abstract_inverted_index":{"Large":[0],"Language":[1],"Models":[2],"(LLMs)":[3],"present":[4],"a":[5,59],"promising":[6],"frontier":[7],"in":[8,102,155,195,199],"robotic":[9,149],"task":[10,51,120],"planning":[11],"by":[12,39],"leveraging":[13],"extensive":[14,136],"human":[15,168],"knowledge.":[16],"Nevertheless,":[17],"the":[18,23,48,55,74,110,113,119,148,180,200],"current":[19],"literature":[20],"often":[21],"overlooks":[22],"critical":[24],"aspects":[25],"of":[26,76,124,130],"robots'":[27,191],"adaptability":[28,81,192],"and":[29,46,112,122,170,193],"error":[30],"correction.":[31],"This":[32],"work":[33],"aims":[34],"to":[35,42,62,73,99,118,182],"overcome":[36],"this":[37],"limitation":[38],"enabling":[40,115],"robots":[41],"modify":[43],"their":[44],"motions":[45],"select":[47],"most":[49],"suitable":[50],"plans":[52,121,160],"based":[53],"on":[54],"context.":[56],"We":[57],"introduce":[58],"novel":[60],"framework":[61,88,177],"achieve":[63],"<italic":[64],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[65],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">action":[66],"contextualization</i>,":[67],"aimed":[68],"at":[69],"tailoring":[70],"robot":[71,94,111,146],"actions":[72],"context":[75],"specific":[77],"tasks,":[78,164],"thereby":[79],"enhancing":[80,190],"through":[82,135],"applying":[83],"LLM-derived":[84],"contextual":[85],"insights.":[86],"Our":[87,176],"integrates":[89],"motion":[90,98,159],"metrics":[91],"that":[92],"evaluate":[93],"performances":[95],"for":[96,161],"each":[97],"resolve":[100],"redundancy":[101],"planning.":[103],"Moreover,":[104],"it":[105],"supports":[106],"online":[107],"feedback":[108],"between":[109],"LLM,":[114],"immediate":[116],"modifications":[117],"corrections":[123],"errors.":[125],"An":[126],"overall":[127],"success":[128],"rate":[129],"81.25%":[131],"has":[132],"been":[133],"achieved":[134],"experimental":[137],"validation.":[138],"Finally,":[139],"when":[140],"integrated":[141,184],"with":[142,185],"dynamical":[143],"system":[144,151],"(DS)-based":[145],"controllers,":[147],"arm-hand":[150],"demonstrates":[152],"its":[153],"proficiency":[154],"autonomously":[156],"executing":[157],"LLM-generated":[158],"sequential":[162,197],"table-clearing":[163],"correcting":[165],"errors":[166],"without":[167],"intervention,":[169],"showcasing":[171],"robustness":[172],"against":[173],"external":[174],"disturbances.":[175],"also":[178],"features":[179],"potential":[181],"be":[183],"modular":[186],"control":[187],"approaches,":[188],"significantly":[189],"autonomy":[194],"performing":[196],"tasks":[198],"real":[201],"world.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
