Embodied Zero-Shot Task Planning via Hardware-Aware LLM-VLM Integration for Grounded Robotic Manipulation
Large language models can translate natural-language instructions into plausible manipulation plans, but robotic execution requires physically grounded decisions that respect robot embodiment, workspace geometry, reachability, collision constraints, and grasp feasibility. This paper presents a hardware-aware large language model-vision-language model (LLM-VLM) manipulation framework for a simulated Franka Research 3 robot in NVIDIA Isaac Sim. The framework separates symbolic reasoning from metric execution: an API-hosted LLM planner receives a structured scene summary and generates only symbolic task information, including the object to manipulate, target relation, approach preference, an...
| Authors | Lonnie Tankersley, Noorbakhsh Amiri Golilarz, Soroush Korivand |
|---|---|
| Primary category | cs.RO |
| Published | 8 October 2026 |
| Last updated at source | 8 October 2026 |
Popularity, last 2 days
0 now. Counts as reported by the source, snapshotted daily by Silytics.
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.