{"id":"https://openalex.org/W7154421903","doi":"https://doi.org/10.48550/arxiv.2604.10929","title":"Ro-SLM: Onboard Small Language Models for Robot Task Planning and Operation Code Generation","display_name":"Ro-SLM: Onboard Small Language Models for Robot Task Planning and Operation Code Generation","publication_year":2026,"publication_date":"2026-04-13","ids":{"openalex":"https://openalex.org/W7154421903","doi":"https://doi.org/10.48550/arxiv.2604.10929"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.10929","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.10929","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.10929","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133597078","display_name":"Wenhao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Wenhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133622304","display_name":"Yanyan Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yanyan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133559352","display_name":"Long Jiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiao, Long","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5033545201","display_name":"Jiawei Yuan","orcid":"https://orcid.org/0000-0003-3447-0740"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Jiawei","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":0.4449000060558319,"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":0.4449000060558319,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.1720000058412552,"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/T13382","display_name":"Robotics and Automated Systems","score":0.02449999935925007,"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/task","display_name":"Task (project management)","score":0.7282999753952026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7253000140190125},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.710099995136261},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.5819000005722046},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5166000127792358},{"id":"https://openalex.org/keywords/code-generation","display_name":"Code generation","score":0.48489999771118164},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.42829999327659607}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7282999753952026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7253000140190125},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.710099995136261},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7099999785423279},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5819000005722046},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5166000127792358},{"id":"https://openalex.org/C133162039","wikidata":"https://www.wikidata.org/wiki/Q1061077","display_name":"Code generation","level":3,"score":0.48489999771118164},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47699999809265137},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.42829999327659607},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4260999858379364},{"id":"https://openalex.org/C110875604","wikidata":"https://www.wikidata.org/wiki/Q75","display_name":"The Internet","level":2,"score":0.35760000348091125},{"id":"https://openalex.org/C179603123","wikidata":"https://www.wikidata.org/wiki/Q1941921","display_name":"Modeling language","level":3,"score":0.3183000087738037},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.3061999976634979},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3010999858379364},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.29420000314712524},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.29339998960494995},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.2775000035762787},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27469998598098755},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2678999900817871},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25429999828338623},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.10929","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.10929","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.10929","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.10929","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6424922347068787,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,121],"large":[3],"language":[4,56],"models":[5,25,57],"(LLMs)":[6],"provide":[7],"robots":[8,20,35],"with":[9,41,103,118],"contextual":[10],"reasoning":[11],"abilities":[12],"to":[13,93,129,158],"comprehend":[14],"human":[15,105],"instructions.":[16],"Yet,":[17],"current":[18],"LLM-enabled":[19],"typically":[21],"depend":[22],"on":[23,34,135],"cloud-based":[24],"or":[26,40],"high-performance":[27],"computing":[28],"infrastructure,":[29],"which":[30,122],"limit":[31],"their":[32],"deployment":[33,62],"under":[36],"unreliable":[37],"internet":[38],"environments":[39],"constrained":[42],"computational":[43],"resources,":[44],"such":[45],"as":[46,125],"UAVs":[47],"and":[48,83,107,155],"small":[49,55],"ground":[50,100],"vehicles.":[51],"Thus,":[52],"deploying":[53],"fine-tuned":[54,117],"(SLMs)":[58],"that":[59,73,140,161],"support":[60],"onboard":[61],"offers":[63],"a":[64,71,126],"promising":[65],"alternative.":[66],"This":[67],"paper":[68],"introduces":[69],"Ro-SLM,":[70],"framework":[72],"enables":[74],"reliable":[75],"SLM-driven":[76],"robot":[77],"operation":[78,137],"by":[79,90],"distilling":[80],"LLMs'":[81],"knowledge":[82],"reasoning.":[84],"Ro-SLM":[85,114,141],"starts":[86],"from":[87,147],"dataset":[88],"synthesis":[89],"leveraging":[91],"LLMs":[92],"generate":[94],"diverse":[95],"task":[96,153],"instructions,":[97],"produce":[98],"corresponding":[99],"truth":[101],"code":[102,156],"minimal":[104],"assistance,":[106],"augment":[108],"instructions":[109],"into":[110],"real-world":[111],"application":[112],"scenarios.":[113],"is":[115],"then":[116],"the":[119,131,143],"dataset,":[120],"LLM":[123],"serves":[124],"reward":[127],"function":[128],"guide":[130],"training.":[132],"Extensive":[133],"experiments":[134],"UAV":[136],"tasks":[138],"demonstrate":[139],"improves":[142],"performance":[144,160],"of":[145,150],"SLM":[146],"being":[148],"incapable":[149],"supporting":[151],"robotic":[152],"planning":[154],"generation":[157],"achieving":[159],"approaches":[162],"LLM.":[163]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-15T00:00:00"}
