CIRRA: Dual-Level Continual Instruction Reconciliation with Ongoing Execution for Embodied Robot Agents in Interactive Household Tasks
Household robots must accommodate new user instructions while executing ongoing tasks. Existing agents often regenerate or extensively revise the remaining task sequence, introducing plan ambiguity, logical inconsistency, and redundant execution. We formulate continual instruction reconciliation and propose CIRRA (Continual Instruction Reconciliation for Robot Agents), a dual-level framework combining LLM-based semantic reasoning with rule-constrained structural integration. CIRRA first grounds incoming instructions to unique executable skills and resolves underspecified actions and execution locations. It then preserves the ongoing subtask sequence as an execution backbone and generates ...
| Authors | Ci Zhang, Enfu Nan, Arman Akbari et al. |
|---|---|
| Primary category | cs.RO |
| Published | 5 October 2026 |
| Last updated at source | 12 October 2026 |
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