Actively Resolving Contextual Uncertainty for Underspecified Tasks in Natural Language

arXiv:2609.30428 · cs.RO, cs.AI · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-24

Updated: 2026-09-24

Project page: https://zacravichandran.github.io/CLUE

Terminology

• Grounding — 16× in this paper · explained in 3 episodes
• Foundation Model — 7× in this paper · explained in 3 episodes
• Active Perception — 6× in this paper · explained in 2 episodes
• Foundation Models — 6× in this paper · explained in 7 episodes
• Task Planning — 5× in this paper · explained in 2 episodes
• Abstraction — 4× in this paper · explained in 1 episode
• Action Space — 4× in this paper · explained in 1 episode
• Embeddings — 4× in this paper · explained in 2 episodes
• Affordance — 3× in this paper · explained in 1 episode
• Conference on Robot Learning — 2× in this paper
• Embodied AI — 2× in this paper · explained in 2 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• Gaussian Splatting — 2× in this paper · explained in 4 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptability — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Clustering — 1× in this paper · explained in 2 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Multi-Agent System — 1× in this paper · explained in 6 episodes
• Partially Observable Markov Decision Process — 1× in this paper
• Partially observable Markov decision process (POMDP) — 1× in this paper · explained in 2 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• RADSeg: Unleashing Parameter and Compute Efficient Zero-Shot Open-Vocabulary Segmentation Using Agglomerative Models
• Effective Task Planning with Missing Objects using Learning-Informed Object Search
• Describe Anything Anywhere At Any Moment
• ATLAS Navigator: Active Task-driven LAnguage-embedded Gaussian Splatting
• Vision-Language-Policy Model for Dynamic Robot Task Planning
• Seeing is Believing: Belief-Space Planning with Foundation Models as Uncertainty Estimators

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