Correctness Boundaries of Typed Plans for Natural-Language Robot Fleet Control
Correctness Boundaries of Typed Plans for Natural-Language Robot Fleet Control
This research examines plan validation and execution in natural-language robot fleet control using typed plans, deterministic corrections, fleet coordination, and outcome checks within a three-level ROS 2 implementation with twenty simulated robots. An offline benchmark of 44 cases evaluates plan structure and command requirements, while an 18-run simulation series verifies pose-based task conditions. The study identifies discrepancies such as structurally accepted plans with incorrect formation shapes, rejected routes, and arrival reports omitting requested robots after replanning, motivating checks against original commands for effective assignments, goals, and reported outcomes.
The study presents an offline benchmark of 44 cases and a simulation series of 18 runs using a three-level ROS 2 implementation with twenty simulated robots to evaluate correctness boundaries in natural-language robot fleet control, reporting pass rates between 70.0% and 87.3% across five local configurations without a response schema.
Source: arXiv Robotics — research abstracts · Read original article ↗
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arXiv:2611.12654v1 Announce Type: new Abstract: We examine what plan validation and execution reports establish in natural-language robot fleet control. Commands are traced through typed plans, deterministic corrections, fleet coordination and outcome checks in a three-level Robot Operating System 2 implementation with twenty simulated robots. An offline benchmark of 44 cases checks plan structure and selected comman
Open source S2
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arXiv:2611.12654v1 Announce Type: new Abstract: We examine what plan validation and execution reports establish in natural-language robot fleet control. Commands are traced through typed plans, deterministic corrections, fleet coordination and outcome checks in a three-level Robot Operating System 2 implementation with twenty simulated robots. An offline benchmark of 44 cases checks plan structure and selected comman
Open source S2
d requirements. Across five local configurations without a response schema, 70.0-87.3% of responses pass. All runs in a selected 18-run simulation series meet their pose-based task conditions. This series includes two successful repeats that replaced incomplete runs after a software change. Saved plans and logs document duplicate pickup assignments and goal adjustments within the original task zones. Separate formati
Open source S3
Source：arXiv Robotics — research abstracts · arxiv.org