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

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

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, gene

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