翻訳待ち：GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。

--> [Submitted on 18 Aug 2026] Title:GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs View a PDF of the paper titled GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs, by Qian Yin and 9 other authors View PDF HTML (experimental) Abstract:Consider a robot guide dog escorting a blind user to an available seat while a second assistive robot dog concurrently retrieves a cup of coffee and delivers it to the same seat. This setting motivates concurrent execution because navigation and object retrieval can overlap. A syntactically valid Large Language Model (LLM) plan may still violate embodiment constraints, and successful-looking controller motion does not by itself establish task completion. We introduce \textsc{GuideFetch}, a coordination framework for concurrent navigation and object retrieval by a heterogeneous guider and fetcher team. An LLM instantiates a schedule-conditioned four-action schema from a natural-language instruction. Before execution, robot, skill, and target aliases are normalized, and proposed actions are validated against registered targets, robot capabilities, and the selected schedule. Robot and object states then govern sequential and parallel execution. In a matched $2\times2$ study across 90 combinations of scene and seed (360 executions), all 180 online LLM responses validate without fallback or replay and match the corresponding scripted plans. For each planner source, sequential and parallel execution achieve $72/90$ and $71/90$ operational successes, respectively. Among the 56 cases completed by both schedules, parallel execution reduces mean makespan by 41.3\%. Within this controlled setting, role specialization and action overlap shorten completed missions, while state checks distinguish plan validity from verified mission completion. Source code will be available. Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2608.18292 [cs.RO] (or arXiv:2608.18292v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.18292 arXiv-issued DOI via DataCite (pending registration) Submission history From: Ruiping Liu [view email] [v1] Tue, 18 Aug 2026 20:16:57 UTC (4,023 KB) Full-text links: Access Paper: View a PDF of the paper titled GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs, by Qian Yin and 9 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.CV References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)