{"id":"https://openalex.org/W7139012799","doi":"https://doi.org/10.48550/arxiv.2603.16673","title":"When Should a Robot Think? Resource-Aware Reasoning via Reinforcement Learning for Embodied Robotic Decision-Making","display_name":"When Should a Robot Think? Resource-Aware Reasoning via Reinforcement Learning for Embodied Robotic Decision-Making","publication_year":2026,"publication_date":"2026-03-17","ids":{"openalex":"https://openalex.org/W7139012799","doi":"https://doi.org/10.48550/arxiv.2603.16673"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.16673","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16673","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.16673","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129767564","display_name":"Jun O. Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Jun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129912857","display_name":"Pu Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Pu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078971265","display_name":"Zhenglun Kong","orcid":"https://orcid.org/0000-0002-8120-4456"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kong, Zhenglun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129844436","display_name":"Xuan Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Xuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Dong, Peiyan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Peiyan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129879581","display_name":"Fan Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Fan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130188653","display_name":"Lin Cui","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cui, Lin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129848740","display_name":"Hao Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129931871","display_name":"Geng Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Geng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129928799","display_name":"Wei Niu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Niu, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130176761","display_name":"Wenbin Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Wenbin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130088791","display_name":"Xue Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Xue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130198540","display_name":"Gaowen Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Gaowen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130063487","display_name":"Yanzhi Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yanzhi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129868475","display_name":"Dong Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Dong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4609000086784363,"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":0.4609000086784363,"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":0.15940000116825104,"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/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.07400000095367432,"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/embodied-cognition","display_name":"Embodied cognition","score":0.7434999942779541},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.5927000045776367},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5753999948501587},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4925000071525574},{"id":"https://openalex.org/keywords/orchestration","display_name":"Orchestration","score":0.48249998688697815},{"id":"https://openalex.org/keywords/embodied-agent","display_name":"Embodied agent","score":0.47099998593330383},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4350999891757965},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.40849998593330383}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7541000247001648},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.7434999942779541},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.5927000045776367},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5753999948501587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5634999871253967},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4925000071525574},{"id":"https://openalex.org/C199168358","wikidata":"https://www.wikidata.org/wiki/Q3367000","display_name":"Orchestration","level":3,"score":0.48249998688697815},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.47099998593330383},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4350999891757965},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.40849998593330383},{"id":"https://openalex.org/C15569618","wikidata":"https://www.wikidata.org/wiki/Q3561421","display_name":"Liveness","level":2,"score":0.40230000019073486},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.3815999925136566},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.3653999865055084},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.3598000109195709},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3490000069141388},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3384000062942505},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3158999979496002},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.31029999256134033},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.302700012922287},{"id":"https://openalex.org/C89288958","wikidata":"https://www.wikidata.org/wiki/Q7301504","display_name":"Reasoning system","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C41661131","wikidata":"https://www.wikidata.org/wiki/Q220764","display_name":"Interrupt","level":3,"score":0.2888999879360199},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C195344581","wikidata":"https://www.wikidata.org/wiki/Q2555318","display_name":"Automated reasoning","level":2,"score":0.2583000063896179}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.16673","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16673","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.16673","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16673","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.7673194408416748,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Embodied":[0],"robotic":[1,199],"systems":[2],"increasingly":[3],"rely":[4],"on":[5,141],"large":[6],"language":[7],"model":[8],"(LLM)-based":[9],"agents":[10],"to":[11,53,121,125,131,138],"support":[12],"high-level":[13,106],"reasoning,":[14,127],"planning,":[15],"and":[16,31,39,56,72,133,146,174,196],"decision-making":[17,114],"during":[18],"interactions":[19],"with":[20,153,178],"the":[21,69,112,119,159],"environment.":[22],"However,":[23],"invoking":[24],"LLM":[25],"reasoning":[26,44,50,129,182,189],"introduces":[27],"substantial":[28],"computational":[29,136],"latency":[30,155,173],"resource":[32],"overhead,":[33],"which":[34,128],"can":[35],"interrupt":[36],"action":[37],"execution":[38,144,172],"reduce":[40],"system":[41],"reliability.":[42],"Excessive":[43],"may":[45],"delay":[46],"actions,":[47],"while":[48,170],"insufficient":[49],"often":[51],"leads":[52],"incorrect":[54],"decisions":[55],"task":[57,167],"failures.":[58],"This":[59,116],"raises":[60],"a":[61,88,105],"fundamental":[62],"question":[63],"for":[64,91,193],"embodied":[65,95,198],"agents:":[66],"when":[67,73],"should":[68,74],"agent":[70,120],"reason,":[71],"it":[75],"act?":[76],"In":[77],"this":[78],"work,":[79],"we":[80],"propose":[81],"RARRL":[82,103,164],"(Resource-Aware":[83],"Reasoning":[84],"via":[85],"Reinforcement":[86],"Learning),":[87],"hierarchical":[89],"framework":[90],"resource-aware":[92],"orchestration":[93,107],"of":[94],"agents.":[96,200],"Rather":[97],"than":[98],"learning":[99],"low-level":[100],"control":[101,190],"policies,":[102],"learns":[104],"policy":[108,117],"that":[109,163,187],"operates":[110],"at":[111],"agent's":[113],"layer.":[115],"enables":[118],"adaptively":[122],"determine":[123],"whether":[124],"invoke":[126],"role":[130],"employ,":[132],"how":[134],"much":[135],"budget":[137],"allocate":[139],"based":[140],"current":[142],"observations,":[143],"history,":[145],"remaining":[147],"resources.":[148],"Extensive":[149],"experiments,":[150],"including":[151],"evaluations":[152],"empirical":[154],"profiles":[156],"derived":[157],"from":[158],"ALFRED":[160],"benchmark,":[161],"show":[162],"consistently":[165],"improves":[166],"success":[168],"rates":[169],"reducing":[171],"enhancing":[175],"robustness":[176],"compared":[177],"fixed":[179],"or":[180],"heuristic":[181],"strategies.":[183],"These":[184],"results":[185],"demonstrate":[186],"adaptive":[188],"is":[191],"essential":[192],"building":[194],"reliable":[195],"efficient":[197]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-20T00:00:00"}
