{"id":"https://openalex.org/W7141384293","doi":"https://doi.org/10.3389/frobt.2026.1727433","title":"Intent-driven LLM ensemble planning for flexible multi-robot manipulation","display_name":"Intent-driven LLM ensemble planning for flexible multi-robot manipulation","publication_year":2026,"publication_date":"2026-03-27","ids":{"openalex":"https://openalex.org/W7141384293","doi":"https://doi.org/10.3389/frobt.2026.1727433","pmid":"https://pubmed.ncbi.nlm.nih.gov/41969731"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2026.1727433","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2026.1727433","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1727433/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1727433/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018867702","display_name":"Cansu Erdo\u011fan","orcid":"https://orcid.org/0009-0006-2192-8176"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Cansu Erdogan","raw_affiliation_strings":["Extreme Robotics Lab, School of Metallurgy and Materials, University of Birmingham"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Extreme Robotics Lab, School of Metallurgy and Materials, University of Birmingham","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100699119","display_name":"Cesar Alan Contreras","orcid":"https://orcid.org/0009-0005-2866-8672"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cesar Alan Contreras","raw_affiliation_strings":["Extreme Robotics Lab, School of Metallurgy and Materials, University of Birmingham"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Extreme Robotics Lab, School of Metallurgy and Materials, University of Birmingham","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046019885","display_name":"Alireza Rastegarpanah","orcid":"https://orcid.org/0000-0003-4264-6857"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I2799351866","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN","US"],"is_corresponding":true,"raw_author_name":"Alireza Rastegarpanah","raw_affiliation_strings":["Department of Applied Artificial Intelligence and Robotics, School of Computer Science, Aston University","Extreme Robotics Lab, School of Metallurgy and Materials, University of Birmingham"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Artificial Intelligence and Robotics, School of Computer Science, Aston University","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"Extreme Robotics Lab, School of Metallurgy and Materials, University of Birmingham","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052202451","display_name":"Manolis Chiou","orcid":"https://orcid.org/0000-0002-9779-4067"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Manolis Chiou","raw_affiliation_strings":["School of Electronic Engineering and Computer Science, Queen Mary University of London"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Computer Science, Queen Mary University of London","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005183926","display_name":"Rustam Stolkin","orcid":"https://orcid.org/0000-0002-0890-8836"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rustam Stolkin","raw_affiliation_strings":["Extreme Robotics Lab, School of Metallurgy and Materials, University of Birmingham"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Extreme Robotics Lab, School of Metallurgy and Materials, University of Birmingham","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018867702","https://openalex.org/A5046019885"],"corresponding_institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I4210121405"],"apc_list":{"value":2125,"currency":"USD","value_usd":2125},"apc_paid":{"value":2125,"currency":"USD","value_usd":2125},"fwci":3.9756,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93086548,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"13","issue":null,"first_page":"1727433","last_page":"1727433"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.28459998965263367,"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":0.28459998965263367,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.19280000030994415,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.10180000215768814,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.7524999976158142},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.669700026512146},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5461000204086304},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5343000292778015},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4284999966621399},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4050999879837036},{"id":"https://openalex.org/keywords/hallucinating","display_name":"Hallucinating","score":0.3790999948978424},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.3763999938964844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3711000084877014}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8801000118255615},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.7524999976158142},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.669700026512146},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5461000204086304},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5343000292778015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4952999949455261},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4666000008583069},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4284999966621399},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4050999879837036},{"id":"https://openalex.org/C2911011789","wikidata":"https://www.wikidata.org/wiki/Q130741","display_name":"Hallucinating","level":2,"score":0.3790999948978424},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.3763999938964844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3711000084877014},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3650999963283539},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3452000021934509},{"id":"https://openalex.org/C55166926","wikidata":"https://www.wikidata.org/wiki/Q2892946","display_name":"Oracle","level":2,"score":0.33149999380111694},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.30970001220703125},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3070000112056732},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2930000126361847},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.28450000286102295},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.28130000829696655},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.2797999978065491},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.27410000562667847},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C4924752","wikidata":"https://www.wikidata.org/wiki/Q184148","display_name":"Plug-in","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2612999975681305},{"id":"https://openalex.org/C77019957","wikidata":"https://www.wikidata.org/wiki/Q2689057","display_name":"Dependability","level":2,"score":0.259799987077713},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.257999986410141},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2572999894618988},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.2567000091075897}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3389/frobt.2026.1727433","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2026.1727433","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1727433/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:41969731","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41969731","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":"Journal Article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/1e254dab-c07b-4493-b71b-03459c7c8410","is_oa":true,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/1e254dab-c07b-4493-b71b-03459c7c8410","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Erdogan, C, Contreras, C A, Rastegarpanah, A, Chiou, M & Stolkin, R 2026, 'Intent-driven LLM ensemble planning for flexible multi-robot manipulation', Frontiers in Robotics and AI, vol. 13, 1727433. https://doi.org/10.3389/frobt.2026.1727433","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:publications.aston.ac.uk:48893","is_oa":false,"landing_page_url":"https://publications.aston.ac.uk/id/eprint/48893/1/C_Erdogan_Intent-Driven_LLM_Ensemble_Planning_for_Flexible_Multi-Robot_Manipulation.pdf","pdf_url":"https://publications.aston.ac.uk/id/eprint/48893/1/C_Erdogan_Intent-Driven_LLM_Ensemble_Planning_for_Flexible_Multi-Robot_Manipulation.pdf","source":{"id":"https://openalex.org/S4306400483","display_name":"Aston Publications Explorer (Aston University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169199633","host_organization_name":"Aston University","host_organization_lineage":["https://openalex.org/I169199633"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:5a7670981ad04d3aaea75b1ecb7b4f6c","is_oa":true,"landing_page_url":"https://doaj.org/article/5a7670981ad04d3aaea75b1ecb7b4f6c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 13 (2026)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:13066936","is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC13066936/","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2026.1727433","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2026.1727433","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1727433/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320328189","display_name":"Milli E\u011fitim Bakanli\u011fi","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7141384293.pdf","grobid_xml":"https://content.openalex.org/works/W7141384293.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1957070465","https://openalex.org/W1980264541","https://openalex.org/W2110762409","https://openalex.org/W2148161811","https://openalex.org/W2267863633","https://openalex.org/W2564869584","https://openalex.org/W2569897526","https://openalex.org/W2617232596","https://openalex.org/W2912757641","https://openalex.org/W3198384955","https://openalex.org/W3203023158","https://openalex.org/W3204240473","https://openalex.org/W3217134600","https://openalex.org/W4205571473","https://openalex.org/W4287391717","https://openalex.org/W4296935009","https://openalex.org/W4307079201","https://openalex.org/W4323572061","https://openalex.org/W4378530298","https://openalex.org/W4385473486","https://openalex.org/W4388918170","https://openalex.org/W4389438794","https://openalex.org/W4389671277","https://openalex.org/W4390722831","https://openalex.org/W4390939164","https://openalex.org/W4391653597","https://openalex.org/W4393900588","https://openalex.org/W4394766179","https://openalex.org/W4396888226","https://openalex.org/W4399767172","https://openalex.org/W4401415530","https://openalex.org/W4402672064","https://openalex.org/W4402727730","https://openalex.org/W4403116255","https://openalex.org/W4403526028","https://openalex.org/W4405080530","https://openalex.org/W4405599418","https://openalex.org/W4405779056","https://openalex.org/W4407589414","https://openalex.org/W4410298154","https://openalex.org/W4411120240","https://openalex.org/W4413925118","https://openalex.org/W4415674709","https://openalex.org/W7124171754","https://openalex.org/W7133739511"],"related_works":[],"abstract_inverted_index":{"Introduction:":[0],"In":[1],"this":[2],"study,":[3],"we":[4,35,168],"address":[5],"intent-driven":[6],"task":[7,111],"planning":[8,56],"for":[9,125],"complex":[10],"multi-action":[11],"manipulation":[12],"sequences":[13,78],"in":[14,112,137,197,242],"heterogeneous":[15],"multi-robot":[16,257],"cells.":[17],"Given":[18],"a":[19,24,30,37,53,96],"perception":[20],"back-end":[21],"that":[22,74,88,100,247],"outputs":[23],"structured":[25],"object-level":[26,39],"scene":[27,64],"description":[28],"and":[29,91,94,135,174,179,203,214,232],"human":[31,143,195,207],"operator's":[32,82],"natural-language":[33],"intent,":[34,83],"generate":[36,75],"precedence-consistent":[38],"robot-action":[40],"sequence,":[41],"which":[42,113],"can":[43],"then":[44],"be":[45,133],"executed":[46],"by":[47,142,146,151],"passing":[48],"each":[49],"such":[50],"action":[51,77],"to":[52,119,177,201,224,238,255],"lower-level":[54],"motion":[55],"module.":[57],"Methods:":[58],"The":[59,104],"pipeline":[60,105,188],"integrates":[61],"i.":[62],"perception-to-text":[63],"encoding,":[65],"ii.":[66],"an":[67,85,109,121],"ensemble":[68],"of":[69,130,171,187,199],"large":[70],"language":[71],"models":[72],"(LLMs)":[73],"candidate":[76],"based":[79],"on":[80,108],"the":[81,152,193],"iii.":[84],"LLM-based":[86,182,194],"verifier":[87,228],"enforces":[89],"formatting":[90],"precedence":[92],"constraints,":[93],"iv.":[95],"deterministic":[97,230],"consistency":[98],"filter":[99],"rejects":[101],"hallucinated":[102],"objects.":[103],"is":[106],"evaluated":[107,192],"example":[110],"two":[114],"robot":[115],"arms":[116],"work":[117],"collaboratively":[118],"dismantle":[120],"electric-vehicle":[122],"(EV)":[123],"battery":[124],"recycling":[126],"applications.":[127],"A":[128],"variety":[129],"components":[131],"must":[132],"grasped":[134],"removed":[136],"specific":[138],"sequences,":[139],"determined":[140],"either":[141],"instructions":[144],"or":[145],"task-order":[147],"feasibility":[148],"decisions":[149],"made":[150],"autonomous":[153],"system.":[154],"Results:":[155],"On":[156,210],"200":[157,211],"real":[158,212],"scenes":[159,213],"with":[160],"600":[161,215],"operator":[162,253],"prompts":[163],"across":[164],"five":[165,181],"component":[166],"classes,":[167],"used":[169],"metrics":[170],"full-sequence":[172,217],"correctness":[173,176,218,234],"next-task":[175],"evaluate":[178],"compare":[180],"planners":[183],"(including":[184],"ablation":[185],"analyses":[186],"components).":[189],"We":[190],"also":[191],"interface":[196],"terms":[198],"time":[200],"execution":[202],"NASA":[204],"TLX":[205],"using":[206],"participant":[208],"experiments.":[209],"prompts,":[216],"improves":[219,235],"from":[220,236],"0.761":[221],"(single":[222],"LLM)":[223],"0.824":[225],"(6-LLM":[226],"+":[227,229],"filter),":[231],"next-object":[233],"0.866":[237],"0.894.":[239],"Discussion:":[240],"Results":[241],"our":[243,248],"case":[244],"study":[245],"indicate":[246],"ensemble-with-verification":[249],"approach":[250],"reliably":[251],"maps":[252],"intent":[254],"safe":[256],"plans":[258],"while":[259],"maintaining":[260],"low":[261],"user":[262],"effort.":[263]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-16T07:02:28.622633","created_date":"2026-03-28T00:00:00"}
