{"id":"https://openalex.org/W7153787750","doi":"https://doi.org/10.1145/3772363.3798803","title":"Learning to Delegate and Act with DELEGACT: Multimodal Language Models for Task-Level Human Cobot Planning in Industrial Assembly","display_name":"Learning to Delegate and Act with DELEGACT: Multimodal Language Models for Task-Level Human Cobot Planning in Industrial Assembly","publication_year":2026,"publication_date":"2026-04-13","ids":{"openalex":"https://openalex.org/W7153787750","doi":"https://doi.org/10.1145/3772363.3798803"},"language":null,"primary_location":{"id":"doi:10.1145/3772363.3798803","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3772363.3798803","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Extended Abstracts of the 2026 CHI Conference on Human Factors in Computing Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3772363.3798803","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133469389","display_name":"Bram Verstappen","orcid":"https://orcid.org/0009-0000-7035-2771"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I878454856","display_name":"Hasselt University","ror":"https://ror.org/04nbhqj75","country_code":"BE","type":"education","lineage":["https://openalex.org/I878454856"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Verstappen","raw_affiliation_strings":["Digital Future Lab, UHasselt - Flanders Make, Diepenbeek, Belgium"],"raw_orcid":"https://orcid.org/0009-0000-7035-2771","affiliations":[{"raw_affiliation_string":"Digital Future Lab, UHasselt - Flanders Make, Diepenbeek, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I878454856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094114680","display_name":"Dries Cardinaels","orcid":"https://orcid.org/0009-0002-1255-0838"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I878454856","display_name":"Hasselt University","ror":"https://ror.org/04nbhqj75","country_code":"BE","type":"education","lineage":["https://openalex.org/I878454856"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Dries Cardinaels","raw_affiliation_strings":["Digital Future Lab, UHasselt - Flanders Make, Diepenbeek, Belgium"],"raw_orcid":"https://orcid.org/0009-0002-1255-0838","affiliations":[{"raw_affiliation_string":"Digital Future Lab, UHasselt - Flanders Make, Diepenbeek, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I878454856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061515912","display_name":"Danny Leen","orcid":"https://orcid.org/0000-0002-0429-6537"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I878454856","display_name":"Hasselt University","ror":"https://ror.org/04nbhqj75","country_code":"BE","type":"education","lineage":["https://openalex.org/I878454856"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Danny Leen","raw_affiliation_strings":["Digital Future Lab, UHasselt - Flanders Make, Diepenbeek, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-0429-6537","affiliations":[{"raw_affiliation_string":"Digital Future Lab, UHasselt - Flanders Make, Diepenbeek, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I878454856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063648916","display_name":"Kris Luyten","orcid":"https://orcid.org/0000-0002-4194-1101"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I878454856","display_name":"Hasselt University","ror":"https://ror.org/04nbhqj75","country_code":"BE","type":"education","lineage":["https://openalex.org/I878454856"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Kris Luyten","raw_affiliation_strings":["Digital Future Lab, UHasselt - Flanders Make, Diepenbeek, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-4194-1101","affiliations":[{"raw_affiliation_string":"Digital Future Lab, UHasselt - Flanders Make, Diepenbeek, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I878454856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028308966","display_name":"Raf Ramakers","orcid":"https://orcid.org/0000-0001-6466-0663"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I878454856","display_name":"Hasselt University","ror":"https://ror.org/04nbhqj75","country_code":"BE","type":"education","lineage":["https://openalex.org/I878454856"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Raf Ramakers","raw_affiliation_strings":["Digital Future Lab, UHasselt - Flanders Make, Diepenbeek, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-6466-0663","affiliations":[{"raw_affiliation_string":"Digital Future Lab, UHasselt - Flanders Make, Diepenbeek, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I878454856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"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":0.52644038,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.2538999915122986,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.2538999915122986,"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/T12031","display_name":"Speech and dialogue systems","score":0.16979999840259552,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.10209999978542328,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/delegate","display_name":"Delegate","score":0.5544999837875366},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.33250001072883606},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.32330000400543213},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.29589998722076416},{"id":"https://openalex.org/keywords/multimodality","display_name":"Multimodality","score":0.25839999318122864}],"concepts":[{"id":"https://openalex.org/C143273055","wikidata":"https://www.wikidata.org/wiki/Q2382794","display_name":"Delegate","level":2,"score":0.5544999837875366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.503000020980835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4242999851703644},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.37279999256134033},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3434999883174896},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.33250001072883606},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.32330000400543213},{"id":"https://openalex.org/C195094911","wikidata":"https://www.wikidata.org/wiki/Q14167904","display_name":"Process management","level":1,"score":0.3188000023365021},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.29589998722076416},{"id":"https://openalex.org/C117671659","wikidata":"https://www.wikidata.org/wiki/Q11049265","display_name":"Manufacturing engineering","level":1,"score":0.2888000011444092},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2842000126838684},{"id":"https://openalex.org/C110354214","wikidata":"https://www.wikidata.org/wiki/Q6314146","display_name":"Engineering management","level":1,"score":0.26980000734329224},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2662999927997589},{"id":"https://openalex.org/C2780910867","wikidata":"https://www.wikidata.org/wiki/Q1952416","display_name":"Multimodality","level":2,"score":0.25839999318122864},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3772363.3798803","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3772363.3798803","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Extended Abstracts of the 2026 CHI Conference on Human Factors in Computing Systems","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3772363.3798803","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3772363.3798803","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Extended Abstracts of the 2026 CHI Conference on Human Factors in Computing Systems","raw_type":"proceedings-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.46418991684913635,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2061536951","https://openalex.org/W2611369485","https://openalex.org/W2791890170","https://openalex.org/W2902263534","https://openalex.org/W2965224530","https://openalex.org/W2968770299","https://openalex.org/W3048251837","https://openalex.org/W3159981169","https://openalex.org/W3182766738","https://openalex.org/W4200365559","https://openalex.org/W4401283079","https://openalex.org/W4401413669","https://openalex.org/W4401416363","https://openalex.org/W4411477536","https://openalex.org/W4415166946"],"related_works":[],"abstract_inverted_index":{"Industrial":[0],"assembly":[1],"is":[2],"shifting":[3],"toward":[4],"human-robot":[5],"collaboration":[6],"(HRC)":[7],"to":[8,21,42,56,71,100],"leverage":[9],"the":[10,23,97],"complementary":[11],"strengths":[12],"of":[13],"both":[14],"agents.":[15],"However,":[16],"traditional":[17],"task":[18,47],"allocation":[19],"referred":[20],"as":[22,106],"Robotic":[24],"Assembly":[25],"Line":[26],"Balancing":[27],"Problem":[28],"(RALBP)":[29],"remains":[30],"labor-intensive":[31],"and":[32,81,89,109,130],"often":[33],"lacks":[34],"transparency.":[35],"We":[36,84],"introduce":[37],"DELEGACT,":[38],"a":[39,52,66,86,123],"framework":[40,50],"designed":[41],"produce":[43],"workable,":[44],"intelligible":[45],"human-cobot":[46],"allocations.":[48],"The":[49],"uses":[51],"Vision-Language":[53],"Model":[54,69],"(VLM)":[55],"extract":[57],"atomic":[58],"operations":[59],"from":[60],"expert":[61],"demonstration":[62],"videos,":[63],"then":[64],"employs":[65],"Large":[67],"Language":[68],"(LLM)":[70],"delegate":[72],"these":[73],"tasks":[74],"based":[75],"on":[76,92],"robot":[77],"specifications,":[78],"operator":[79,128],"competencies,":[80],"material":[82],"definitions.":[83],"provide":[85],"proof-of-concept":[87],"prototype":[88],"preliminary":[90],"testing":[91],"illustrative":[93],"cases.":[94],"Results":[95],"demonstrate":[96],"system\u2019s":[98],"ability":[99],"reason":[101],"about":[102],"complex":[103],"constraints":[104],"such":[105],"precision,":[107],"weight,":[108],"ergonomics.":[110],"This":[111],"paper":[112],"illustrates":[113],"how":[114],"off-the-shelf":[115],"foundation":[116],"models":[117],"can":[118],"automate":[119],"HRC":[120],"decision-making":[121],"via":[122],"human-in-the-loop":[124],"paradigm":[125],"while":[126],"preserving":[127],"agency":[129],"understanding.":[131]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-13T00:00:00"}
