{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T19:30:48Z","timestamp":1773689448923,"version":"3.50.1"},"reference-count":48,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11128414","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"8988-8995","source":"Crossref","is-referenced-by-count":2,"title":["ConceptAgent: LLM-Driven Precondition Grounding and Tree Search for Robust Task Planning and Execution"],"prefix":"10.1109","author":[{"given":"Corban","family":"Rivera","sequence":"first","affiliation":[{"name":"1JHU APL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Grayson","family":"Byrd","sequence":"additional","affiliation":[{"name":"1JHU APL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"William","family":"Paul","sequence":"additional","affiliation":[{"name":"1JHU APL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tyler","family":"Feldman","sequence":"additional","affiliation":[{"name":"1JHU APL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Meghan","family":"Booker","sequence":"additional","affiliation":[{"name":"1JHU APL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Emma","family":"Holmes","sequence":"additional","affiliation":[{"name":"1JHU APL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Handelman","sequence":"additional","affiliation":[{"name":"1JHU APL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bethany","family":"Kemp","sequence":"additional","affiliation":[{"name":"1JHU APL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andrew","family":"Badger","sequence":"additional","affiliation":[{"name":"1JHU APL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aurora","family":"Schmidt","sequence":"additional","affiliation":[{"name":"1JHU APL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Krishna Murthy","family":"Jatavallabhula","sequence":"additional","affiliation":[{"name":"MIT"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Celso M","family":"de Melo","sequence":"additional","affiliation":[{"name":"DEVCOM ARL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lalithkumar","family":"Seenivasan","sequence":"additional","affiliation":[{"name":"JHU"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mathias","family":"Unberath","sequence":"additional","affiliation":[{"name":"JHU"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rama","family":"Chellappa","sequence":"additional","affiliation":[{"name":"JHU"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","article-title":"On bringing robots home","author":"Shafiullah","year":"2023","journal-title":"arXiv preprint"},{"key":"ref2","article-title":"Do as i can, not as i say: Grounding language in robotic affordances","author":"Ahn","year":"2022","journal-title":"arXiv preprint"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917710318"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487517"},{"key":"ref5","article-title":"Conceptgraphs: Open-vocabulary 3d scene graphs for perception and planning","author":"Gu","year":"2023","journal-title":"arXiv preprint"},{"key":"ref6","article-title":"Ok-robot: What really matters in integrating open-knowledge models for robotics","author":"Liu","year":"2024","journal-title":"arXiv preprint"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2023.xix.025"},{"key":"ref8","article-title":"Rt-2: Vision-language-action models transfer web knowledge to robotic control","author":"Brohan","year":"2023","journal-title":"arXiv preprint"},{"key":"ref9","first-page":"8748","article-title":"Learning transferable visual models from natural language supervision","volume-title":"International conference on machine learning","author":"Radford"},{"key":"ref10","article-title":"Simple open-vocabulary object detection with vision transformers. arxiv 2022","volume":"2","author":"Minderer","year":"2022","journal-title":"arXiv preprint"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-20077-9_21"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00331"},{"key":"ref13","first-page":"23716","article-title":"Flamingo: a visual language model for few-shot learning","volume":"35","author":"Alayrac","year":"2022","journal-title":"Advances in neural information processing systems"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-72970-6_3"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00371"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.48550\/ARXIV.1703.09312"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3281153"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561877"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01146"},{"key":"ref20","first-page":"24","article-title":"The homerobot open vocab mobile manipulation challenge","volume-title":"Thirty-seventh conference on neural information processing systems: competition track","volume":"12","author":"Yenamandra"},{"key":"ref21","article-title":"Uniteam: Open vocabulary mobile manipulation challenge","author":"Melnik","year":"2023","journal-title":"arXiv preprint"},{"key":"ref22","article-title":"AI2-THOR: An Interactive 3D Environment for Visual AI","author":"Kolve","year":"2017","journal-title":"arXiv"},{"key":"ref23","article-title":"Pddl- the planning domain definition language","author":"Aeronautiques","year":"1998","journal-title":"Technical Report, Tech. Rep."},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1129"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v25i1.7979"},{"key":"ref26","first-page":"1194","article-title":"Pushing the envelope: Planning, propositional logic, and stochastic search","volume-title":"Proceedings of the national conference on artificial intelligence","author":"Kautz"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1609\/aimag.v36i3.2571"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2019.8914278"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW56347.2022.00421"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1117\/12.3013906"},{"key":"ref31","article-title":"Pddl planning with pretrained large language models","volume-title":"NeurIPS 2022 foundation models for decision making workshop","author":"Silver","year":"2022"},{"key":"ref32","article-title":"Llm+ p: Empowering large language models with optimal planning proficiency","author":"Liu","year":"2023","journal-title":"arXiv preprint"},{"key":"ref33","article-title":"Inner monologue: Embodied reasoning through planning with language models","author":"Huang","year":"2022","journal-title":"arXiv preprint"},{"key":"ref34","article-title":"React: Synergizing reasoning and acting in language models","author":"Yao","year":"2022","journal-title":"arXiv preprint"},{"key":"ref35","article-title":"Socratic models: Composing zero-shot multimodal reasoning with language","author":"Zeng","year":"2022","journal-title":"arXiv preprint"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/iccv51070.2023.00280"},{"key":"ref37","article-title":"Sayplan: Grounding large language models using 3d scene graphs for scalable task planning","author":"Rana","year":"2023","journal-title":"arXiv preprint"},{"key":"ref38","article-title":"Check your facts and try again: Improving large language models with external knowledge and auto-mated feedback","author":"Peng","year":"2023","journal-title":"arXiv preprint"},{"key":"ref39","article-title":"Toolformer: Language models can teach themselves to use tools","volume":"36","author":"Schick","year":"2024","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref40","article-title":"Mind\u2019s eye: Grounded language model reasoning through simulation","author":"Liu","year":"2022","journal-title":"arXiv preprint"},{"key":"ref41","article-title":"Errors are useful prompts: Instruction guided task programming with verifier-assisted iterative prompting","author":"Skreta","year":"2023","journal-title":"arXiv preprint"},{"key":"ref42","article-title":"Large language models as commonsense knowledge for large-scale task planning","volume-title":"Thirty-seventh Conference on Neural Information Processing Systems","author":"Zhao","year":"2023"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1007\/11871842_29"},{"key":"ref44","author":"Guan","year":"2023","journal-title":"Leveraging pre-trained large language models to construct and utilize world models for model-based task planning"},{"key":"ref45","article-title":"Tree of thoughts: Deliberate problem solving with large language models","volume":"36","author":"Yao","year":"2024","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref46","author":"Melnik","year":"2023","journal-title":"Uniteam: Open vocabulary mobile manipulation challenge"},{"key":"ref47","author":"Zhi","year":"2024","journal-title":"Closed-loop open-vocabulary mobile manipulation with gpt-4v"},{"key":"ref48","article-title":"Spot-compose: A framework for open-vocabulary object retrieval and drawer manipulation in point clouds","author":"Lemke","year":"2024","journal-title":"arXiv preprint"}],"event":{"name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","location":"Atlanta, GA, USA","start":{"date-parts":[[2025,5,19]]},"end":{"date-parts":[[2025,5,23]]}},"container-title":["2025 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11127273\/11127223\/11128414.pdf?arnumber=11128414","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:07:42Z","timestamp":1756879662000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11128414\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":48,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11128414","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}