From Perception to Symbolic Task Planning: Vision-Language Guided Human-Robot Collaborative Structured Assembly

arXiv:2601.00978 · cs.RO · Submitted 2026-01-02 · Read on arXiv

cs.RO

Submitted: 2026-01-02

Updated: 2026-10-13

Journal ref: Published in IEEE Transactions on Automation Science and Engineering, 2026

DOI: 10.1109/TASE.2026.3739177

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Task Planning — 3× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Human-Aware Planning and Replanning — 1× in this paper
• Perception-to-Symbolic State — 1× in this paper
• Robustness — 1× in this paper · explained in 5 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• Auto-Assembly: a framework for automated robotic assembly directly from CAD
• D-RMGPT: Robot-assisted collaborative tasks driven by large multimodal models
• Integrating LLMs and Digital Twins for Adaptive Multi-Robot Task Allocation in Construction
• An Optimal Task Planning and Agent-aware Allocation Algorithm in Collaborative Tasks Combining with PDDL and POPF
• DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly
• A Prompt Pattern Catalog to Enhance Prompt Engineering with ChatGPT
• Coordinating robotized construction using advanced robotic simulation: The case of collaborative brick wall assembly

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