Real-Time Service Robot Replanning via Simple Button Interaction for Improved Task Success and User Experience

arXiv:2609.17541 · cs.RO, cs.HC · Submitted 2026-07-14 · Read on arXiv

cs.RO, cs.HC

Submitted: 2026-07-14

Updated: 2026-07-14

Terminology

• Task Planning — 11× in this paper · explained in 2 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Affordance — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Conference on Robot Learning — 1× in this paper
• Conformal Prediction — 1× in this paper · explained in 5 episodes
• Frustration — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes

Sources

• Foundation Model based Open Vocabulary Task Planning and Executive System for General Purpose Service Robots
• RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning
• GPT-4o System Card

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