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Bridging Thought and Action: Taming Long-Horizon Instability in Open-Source LLM Agents with a MetaTool-Enhanced ROS Framework

arXiv · AI, language, vision and robotics · article · Sep 11, 2026 · UTC

Large Language Models (LLMs) have enabled more natural human-robot interaction, but open-source models often exhibit unstable long-horizon reasoning and inefficient action execution when deployed in agentic robotic frameworks. This paper presents an enhanced ROS-Agent based architecture that improves task reliability and execution efficiency for agentic robotic systems using open-source LLMs. The proposed system introduces a novel intermediate mechanism, termed the MetaTool, which enforces structured planning prior to action execution. Given a natural-language command, the MetaTool induces the

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