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--> [Submitted on 5 Aug 2026] Title:Structured LLM Reasoning for Zero-Shot Human--Robot Coordination Under Hidden Goals View a PDF of the paper titled Structured LLM Reasoning for Zero-Shot Human--Robot Coordination Under Hidden Goals, by Dong Hae Mangalindan and 3 other authors View PDF HTML (experimental) Abstract:We present a structured large-language-model (LLM) architecture for zero-shot human--robot coordination in a cooperative construction task with private goal views. Guided by a Dec-POMDP formulation, the architecture decomposes decision-making into (i) action-conditioned Theory-of-Mind (ToM) inference, (ii) hierarchical planning, (iii) conversation interpretation, (iv) action verification, and (v) feedback-based replanning. We compare the proposed method with an ablation without ToM inference and a multi-agent reinforcement-learning policy trained offline over many goal pairs. In human-participant experiments, the proposed method required fewer interaction steps and yielded higher post-interaction trust ratings than both baselines. These results suggest that systematically decomposing the team decision problem, using LLMs as tractable surrogates for otherwise intractable inference and planning computations, and retaining conventional verification for physical feasibility can improve both task coordination and the human experience. Subjects: Robotics (cs.RO); Systems and Control (eess.SY) Cite as: arXiv:2608.04309 [cs.RO] (or arXiv:2608.04309v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.04309 arXiv-issued DOI via DataCite (pending registration) Submission history From: Dong Hae Mangalindan [view email] [v1] Wed, 5 Aug 2026 00:40:03 UTC (246 KB) Full-text links: Access Paper: View a PDF of the paper titled Structured LLM Reasoning for Zero-Shot Human--Robot Coordination Under Hidden Goals, by Dong Hae Mangalindan and 3 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.SY eess eess.SY 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?)