{"id":"https://openalex.org/W7140998651","doi":"https://doi.org/10.48550/arxiv.2603.25405","title":"System Design for Maintaining Internal State Consistency in Long-Horizon Robotic Tabletop Games","display_name":"System Design for Maintaining Internal State Consistency in Long-Horizon Robotic Tabletop Games","publication_year":2026,"publication_date":"2026-03-26","ids":{"openalex":"https://openalex.org/W7140998651","doi":"https://doi.org/10.48550/arxiv.2603.25405"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.25405","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.25405","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.25405","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130782840","display_name":"Guangyu Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhao, Guangyu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130792731","display_name":"Ceyao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Ceyao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130744461","display_name":"Chengdong Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Chengdong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130740573","display_name":"Tao Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Tao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130813135","display_name":"Yiyang Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Yiyang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080189445","display_name":"Hongge Ru","orcid":"https://orcid.org/0009-0005-6654-4734"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ru, Haoxuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130794099","display_name":"Yifan Zhong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhong, Yifan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130813764","display_name":"Ruilin Yan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Ruilin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100774104","display_name":"Lingfeng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Lingfeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130758128","display_name":"Ruochong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Ruochong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130792083","display_name":"Yu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130768140","display_name":"Xuyuan Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Xuyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130746574","display_name":"Yun Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Yun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130772195","display_name":"Ruizhang Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Ruizhang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130793137","display_name":"Xiaochuan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xiaochuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100782551","display_name":"Yichao Li","orcid":"https://orcid.org/0000-0002-4657-0901"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yichao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129976508","display_name":"Yuanpei Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yuanpei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129848172","display_name":"Yaodong Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yaodong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5127980151","display_name":"Yitao Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Yitao","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":19,"corresponding_author_ids":["https://openalex.org/A5130782840"],"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/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.26969999074935913,"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/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.26969999074935913,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.12330000102519989,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10142","display_name":"Formal Methods in Verification","score":0.08290000259876251,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/executable","display_name":"Executable","score":0.8228999972343445},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.7009000182151794},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5475999712944031},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5267999768257141},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5145000219345093},{"id":"https://openalex.org/keywords/systems-design","display_name":"Systems design","score":0.4880000054836273},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.48159998655319214},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4131999909877777}],"concepts":[{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.8228999972343445},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7856000065803528},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.7009000182151794},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5475999712944031},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5267999768257141},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5145000219345093},{"id":"https://openalex.org/C31352089","wikidata":"https://www.wikidata.org/wiki/Q3750474","display_name":"Systems design","level":2,"score":0.4880000054836273},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.48159998655319214},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42989999055862427},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4131999909877777},{"id":"https://openalex.org/C120936955","wikidata":"https://www.wikidata.org/wiki/Q2155640","display_name":"Empirical research","level":2,"score":0.3391000032424927},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3269999921321869},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.3215000033378601},{"id":"https://openalex.org/C33276779","wikidata":"https://www.wikidata.org/wiki/Q1943363","display_name":"Design elements and principles","level":2,"score":0.3179999887943268},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31679999828338623},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3149000108242035},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C2780154230","wikidata":"https://www.wikidata.org/wiki/Q513420","display_name":"Undo","level":2,"score":0.30790001153945923},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3075000047683716},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.2955000102519989},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.28450000286102295},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28189998865127563},{"id":"https://openalex.org/C166052673","wikidata":"https://www.wikidata.org/wiki/Q83021","display_name":"Empirical evidence","level":2,"score":0.273499995470047}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.25405","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.25405","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.25405","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.25405","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.8219023942947388,"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":{"Long-horizon":[0],"tabletop":[1,41],"games":[2,42],"pose":[3],"a":[4,55],"distinct":[5],"systems":[6],"challenge":[7],"for":[8,148,175],"robotics:":[9],"small":[10],"perceptual":[11],"or":[12,157],"execution":[13,109],"errors":[14],"can":[15],"invalidate":[16],"accumulated":[17],"task":[18],"state,":[19,71],"propagate":[20],"across":[21],"decision-making":[22],"modules,":[23],"and":[24,69,79,81,104,128,143],"ultimately":[25],"derail":[26],"interaction.":[27,183],"This":[28],"paper":[29],"studies":[30],"how":[31],"to":[32,89,100,161],"maintain":[33],"internal":[34],"state":[35,92,141],"consistency":[36,151],"in":[37,164,180],"turn-based,":[38],"multi-human":[39],"robotic":[40],"through":[43],"deliberate":[44],"system":[45,169],"design":[46,178],"rather":[47],"than":[48],"isolated":[49],"component":[50],"improvement.":[51],"Using":[52],"Mahjong":[53],"as":[54,171],"representative":[56],"long-horizon":[57],"setting,":[58],"we":[59,115],"present":[60],"an":[61,117,172],"integrated":[62],"architecture":[63],"that":[64,107,137],"explicitly":[65],"maintains":[66],"perceptual,":[67],"execution,":[68],"interaction":[70],"partitions":[72],"high-level":[73],"semantic":[74],"reasoning":[75],"from":[76],"time-critical":[77],"perception":[78],"control,":[80],"incorporates":[82],"verified":[83],"action":[84],"primitives":[85],"with":[86],"tactile-triggered":[87],"recovery":[88,123,144],"prevent":[90],"premature":[91],"corruption.":[93],"We":[94],"further":[95],"introduce":[96],"interaction-level":[97],"monitoring":[98],"mechanisms":[99,145],"detect":[101],"turn":[102],"violations":[103],"hidden-information":[105],"breaches":[106],"threaten":[108],"assumptions.":[110],"Beyond":[111],"demonstrating":[112],"complete-game":[113],"operation,":[114],"provide":[116],"empirical":[118,173],"characterization":[119],"of":[120],"failure":[121],"modes,":[122],"effectiveness,":[124],"cross-module":[125],"error":[126],"propagation,":[127],"hardware-algorithm":[129],"trade-offs":[130],"observed":[131],"during":[132],"deployment.":[133],"Our":[134],"results":[135],"show":[136],"explicit":[138],"partitioning,":[139],"monitored":[140],"transitions,":[142],"are":[146],"critical":[147],"sustaining":[149],"executable":[150],"over":[152],"extended":[153],"play,":[154],"whereas":[155],"monolithic":[156],"unverified":[158],"pipelines":[159],"lead":[160],"measurable":[162],"degradation":[163],"end-to-end":[165],"reliability.":[166],"The":[167],"proposed":[168],"serves":[170],"platform":[174],"studying":[176],"system-level":[177],"principles":[179],"long-horizon,":[181],"turn-based":[182]},"counts_by_year":[],"updated_date":"2026-03-28T06:16:51.555046","created_date":"2026-03-28T00:00:00"}