A Physical Agentic Loop for Language-Guided Grasping with Execution-State Monitoring
Robotic manipulation systems that follow language instructions often execute grasp primitives in a largely single-shot manner: a model proposes an action, the robot executes it, and failures such as empty grasps, slips, stalls, timeouts, or semantically wrong grasps are not surfaced to the decision layer in a structured way. Inspired by agentic loops in digital tool-using agents, we reformulate language-guided grasping as a bounded embodied agent operating over grounded execution states, where physical actions expose an explicit tool-state stream. We introduce a physical agentic loop that wraps an unmodified learned manipulation primitive (grasp-and-lift) with (i) an event-based interface...
| Authors | Wenze Wang, Mehdi Hosseinzadeh, Feras Dayoub |
|---|---|
| Primary category | cs.RO |
| Published | 8 April 2026 |
| Last updated at source | 8 April 2026 |
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