Bridging Semantics and Physics with Constrained LLMs for Safe and Trustworthy Robotic Manipulation
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.29379v1 Announce Type: new Abstract: A language-guided robot operating in a real kitchen must do more than produce a plan that appears correct. It must also execute that plan safely in cluttered environments under imperfect perception. Large language models (LLM) can decompose instructions into action sequences, yet a language-action gap remains: a plan may appear valid linguistically while being physically infeasible under kinematic and collision constraints.