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Explicitly incorporating state awareness into task planning with MM-LLMs leads to a 32.8% increase in action executability, revolutionizing human-robot collaboration.
Achieving zero-shot transfer from simulation to real-world manipulation tasks, PLUME outperforms state-of-the-art methods by effectively handling uncertainty in physical parameters.
Achieve significantly higher accuracy and lower mental demand in bimanual teleoperation by intelligently coupling intention estimation with scene-graph task planning and context-aware motion assistance.
