# Precise Robot Command Understanding Using Grammar-Constrained Large Language Models

arXiv: https://arxiv.org/abs/2604.04233 · HTML: https://mlsanity.com/paper/2604.04233/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 19 references that are in the map.
- First posted on arXiv 5 Apr 2026.

## Builds on (most cited first, 6 of 6)

- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [fairseq: A Fast, Extensible Toolkit for Sequence Modeling](https://mlsanity.com/paper/1904.01038/) (2019)
- [What Language Model Architecture and Pretraining Objective Work Best for Zero-Shot Generalization?](https://mlsanity.com/paper/2204.05832/) (2022)
- [Tractable Control for Autoregressive Language Generation](https://mlsanity.com/paper/2304.07438/) (2023)
- [Automata-based constraints for language model decoding](https://mlsanity.com/paper/2407.08103/) (2024)
- [Flexible and Efficient Grammar-Constrained Decoding](https://mlsanity.com/paper/2502.05111/) (2025)

## Abstract (arXiv)

Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity needed for safe and executable industrial commands. To address this gap, this paper introduces a novel grammar-constrained LLM that integrates a grammar-driven Natural Language Understanding (NLU) system with a fine-tuned LLM, which enables both conversational flexibility and the deterministic precision required in robotics. Our method employs a two-stage process. First, a fine-tuned LLM performs high-level contextual reasoning and parameter inference on natural language inputs. Second, a Structured Language Model (SLM) and a grammar-based canonicalizer constrain the LLM's output, forcing it into a standardized symbolic format composed of valid action frames and command elements. This process guarantees that generated commands are valid and structured in a robot-readable JSON format. A key feature of the proposed model is a validation and feedback loop. A grammar parser validates the output against a predefined list of executable robotic actions. If a command is invalid, the system automatically generates corrective prompts and re-engages the LLM. This iterative self-correction mechanism allows the model to recover from initial interpretation errors to improve system robustness. We evaluate our grammar-constrained hybrid model against two baselines: a fine-tuned API-based LLM and a standalone grammar-driven NLU model. Using the Human Robot Interaction Corpus (HuRIC) dataset, we demonstrate that the hybrid approach achieves superior command validity, which promotes safer and more effective industrial human-robot collaboration.