mlsanityData to 14 Oct 2026

STEP: State-Aware Task Estimation and Planning with Multi-Modal LLMs for Human-Robot Collaboration

arXiv 2608.27225 ↗First posted 27 Aug 2026cs.RO cs.AIcited by 0

On the map: Multimodal LLMs / vision-language models → Embodied and 3D vision-language models

Abstract (arXiv)

Effective human-robot collaboration in industrial settings requires robots to understand human intentions and assist with task planning, reducing workload. Recent works have explored the use of Multi-modal Large Language Models (MM-LLMs) for task planning in such data-scarce scenarios, leveraging in-context learning to interpret user actions and generate long-horizon action plans in natural language. However, MM-LLMs inherently lack an understanding of system states and do not track state transitions, often leading to hallucinated actions that deviate from the intended goal. Additionally, generating action plans in natural language tends to limit the generated plans to a high level, introducing ambiguity in action execution. To address these limitations, we propose the State-aware Task Estimator and Planner (STEP), which prompts a MM-LLM to explicitly estimate the state of the system and predict the state transitions resulting from executed actions. By forecasting future states alongside actions, STEP ensures task-convergent planning while also providing additional assistance parameters necessary for executing the predicted actions. We evaluate STEP in a simulated environment using a robot assembly task. Our approach outperforms the state-of-the-art by 32.8% in action executability and 14.8% in final-state error.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in Embodied and 3D vision-language models, one of 16 directions in Multimodal LLMs / vision-language models. Builds on 34 of its 50 references that are in the map. First posted on arXiv 27 Aug 2026.

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34 of 50 references.

Closest ancestors · 2

Same direction, newest first

  1. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control28 Jul
  2. 2023EmbodiedGPT: Vision-Language Pre-Training via Embodied Chain of Thought24 May

Other references · 32

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20 more
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