{"id":"https://openalex.org/W7151542887","doi":"https://doi.org/10.48550/arxiv.2604.04664","title":"ROSClaw: A Hierarchical Semantic-Physical Framework for Heterogeneous Multi-Agent Collaboration","display_name":"ROSClaw: A Hierarchical Semantic-Physical Framework for Heterogeneous Multi-Agent Collaboration","publication_year":2026,"publication_date":"2026-04-06","ids":{"openalex":"https://openalex.org/W7151542887","doi":"https://doi.org/10.48550/arxiv.2604.04664"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.04664","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04664","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.2604.04664","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038834749","display_name":"Rongfeng Zhao","orcid":"https://orcid.org/0000-0003-4322-8235"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhao, Rongfeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133077317","display_name":"Xuanhao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xuanhao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044546520","display_name":"Zhaochen Guo","orcid":"https://orcid.org/0000-0003-3135-6213"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Zhaochen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133089707","display_name":"Xiang Shao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Xiang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088162760","display_name":"Zhongpan Zhu","orcid":"https://orcid.org/0000-0003-2385-6146"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Zhongpan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133081027","display_name":"Bin He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Bin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133066053","display_name":"Jie Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Jie","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5038834749"],"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":0.7164000272750854,"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":0.7164000272750854,"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":0.1088000014424324,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.03889999911189079,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6460999846458435},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6373999714851379},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.46140000224113464},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4521999955177307},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4271000027656555},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.35109999775886536},{"id":"https://openalex.org/keywords/natural-language-understanding","display_name":"Natural language understanding","score":0.3416999876499176},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.33959999680519104}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7804999947547913},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6460999846458435},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6373999714851379},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.46140000224113464},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4521999955177307},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43380001187324524},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4271000027656555},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.41110000014305115},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3716000020503998},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.35109999775886536},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.3416999876499176},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.33959999680519104},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3276999890804291},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.319599986076355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3000999987125397},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.2980000078678131},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.287200003862381},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.2799000144004822},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C2129575","wikidata":"https://www.wikidata.org/wiki/Q54837","display_name":"Semantic Web","level":2,"score":0.2732999920845032},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.2702000141143799},{"id":"https://openalex.org/C41065033","wikidata":"https://www.wikidata.org/wiki/Q2825412","display_name":"Adversary","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.26759999990463257}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.04664","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04664","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.2604.04664","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04664","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,106,203],"integration":[1],"of":[2,111,130,210,224],"large":[3],"language":[4,43],"models":[5],"(LLMs)":[6],"with":[7,48],"embodied":[8],"agents":[9],"has":[10],"improved":[11],"high-level":[12],"reasoning":[13,172],"capabilities;":[14],"however,":[15],"a":[16,100,119,139,165],"critical":[17],"gap":[18],"remains":[19],"between":[20,171],"semantic":[21,169],"understanding":[22],"and":[23,29,38,51,66,76,96,133,142,152,173,175,214,221],"physical":[24,115,128],"execution.":[25,188],"While":[26],"vision-language-action":[27],"(VLA)":[28],"vision-language-navigation":[30],"(VLN)":[31],"systems":[32],"enable":[33],"robots":[34,91,113],"to":[35,117,126,180],"perform":[36],"manipulation":[37],"navigation":[39],"tasks":[40],"from":[41],"natural":[42],"instructions,":[44],"they":[45],"still":[46],"struggle":[47],"long-horizon":[49],"sequential":[50],"temporally":[52],"structured":[53],"tasks.":[54],"Existing":[55],"frameworks":[56],"typically":[57],"adopt":[58],"modular":[59],"pipelines":[60],"for":[61,89],"data":[62,140],"collection,":[63],"skill":[64],"training,":[65],"policy":[67,77,94,161],"deployment,":[68,164],"resulting":[69],"in":[70,73,186],"high":[71],"costs":[72],"experimental":[74],"validation":[75],"optimization.":[78,162],"To":[79],"address":[80],"these":[81],"limitations,":[82],"we":[83],"propose":[84],"ROSClaw,":[85],"an":[86,191],"agent":[87,167],"framework":[88,107,204],"heterogeneous":[90,112],"that":[92,146],"integrates":[93],"learning":[95],"task":[97],"execution":[98,153],"within":[99],"unified":[101,166],"vision-language":[102],"model":[103],"(VLM)":[104],"controller.":[105],"leverages":[108],"e-URDF":[109],"representations":[110],"as":[114],"constraints":[116],"construct":[118],"sim-to-real":[120],"topological":[121],"mapping,":[122],"enabling":[123,158,217],"real-time":[124],"access":[125],"the":[127,197],"states":[129],"both":[131],"simulated":[132],"real-world":[134,156],"agents.":[135],"We":[136],"further":[137],"incorporate":[138],"collection":[141],"state":[143],"accumulation":[144],"mechanism":[145],"stores":[147],"robot":[148],"states,":[149],"multimodal":[150],"observations,":[151],"trajectories":[154],"during":[155],"execution,":[157,174,216],"subsequent":[159],"iterative":[160],"During":[163],"maintains":[168],"continuity":[170],"dynamically":[176],"assigns":[177],"task-specific":[178],"control":[179,212],"different":[181],"agents,":[182],"thereby":[183],"improving":[184],"robustness":[185],"multi-policy":[187],"By":[189],"establishing":[190],"autonomous":[192],"closed-loop":[193],"framework,":[194],"ROSClaw":[195],"minimizes":[196],"reliance":[198],"on":[199],"robot-specific":[200],"development":[201],"workflows.":[202],"supports":[205],"hardware-level":[206],"validation,":[207],"automated":[208],"generation":[209],"SDK-level":[211],"programs,":[213],"tool-based":[215],"rapid":[218],"cross-platform":[219],"transfer":[220],"continual":[222],"improvement":[223],"robotic":[225],"skills.":[226],"Ours":[227],"project":[228],"page:":[229],"https://www.rosclaw.io/.":[230]},"counts_by_year":[],"updated_date":"2026-04-08T06:07:18.267832","created_date":"2026-04-08T00:00:00"}
