Embodied Zero-Shot Task Planning via Hardware-Aware LLM-VLM Integration for Grounded Robotic Manipulation

arXiv:2610.14106 · cs.RO, cs.AI · Submitted 2026-10-08 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-10-08

Updated: 2026-10-08

Comments: 6 pages, 5 figures, 1 table. Accepted and presented at the 25th IEEE International Conference on Machine Learning and Applications (ICMLA 2026), Oct 5-7, 2026

Code: https://github.com/Ltankersley15/SK-Zero-Shot-Research

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

Terminology

• Task Planning — 1× in this paper · explained in 2 episodes

Sources

• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
• Inner Monologue: Embodied Reasoning through Planning with Language Models
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• PaLM-E: An Embodied Multimodal Language Model
• RT-1: Robotics Transformer for Real-World Control at Scale
• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• SAM 2: Segment Anything in Images and Videos
• Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners

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