Ajay Vikram Periasami

FRAMES: Failure Recovery And Monitoring of Embodied Skills for Humanoid Loco-Manipulation

Large language model (LLM) planners can decompose natural-language instructions and select reusable robot skills, but choosing the correct skill does not guarantee successful physical execution. This gap is especially important in humanoid loco-manipulation, where errors during approach, grasping, transport, or placeme...