{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/llm-empowered-embodied-agent-for-memory","title":"LLM-Empowered Embodied Agent for Memory-Augmented Task Planning in Household Robotics","arxiv_id":"2504.21716","date":"2025-04-30","proceeding":null,"authors":["Marc Glocker","Peter Hönig","Matthias Hirschmanner","Markus Vincze"],"abstract":"We present an embodied robotic system with an LLM-driven agent-orchestration architecture for autonomous household object management. The system integrates memory-augmented task planning, enabling robots to execute high-level user commands while tracking past actions. It employs three specialized agents: a routing agent, a task planning agent, and a knowledge base agent, each powered by task-specific LLMs. By leveraging in-context learning, our system avoids the need for explicit model training. RAG enables the system to retrieve context from past interactions, enhancing long-term object tracking. A combination of Grounded SAM and LLaMa3.2-Vision provides robust object detection, facilitating semantic scene understanding for task planning. Evaluation across three household scenarios demonstrates high task planning accuracy and an improvement in memory recall due to RAG. Specifically, Qwen2.5 yields best performance for specialized agents, while LLaMA3.1 excels in routing tasks. The source code is available at: https://github.com/marc1198/chat-hsr.","url_abs":"https://arxiv.org/abs/2504.21716v1","url_pdf":"https://arxiv.org/pdf/2504.21716v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"llm-empowered-embodied-agent-for-memory","repo_url":"https://github.com/marc1198/chat-hsr","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"in-context-learning","task_name":"In-Context Learning"},{"task_slug":"object","task_name":"Object"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"object-tracking","task_name":"Object Tracking"},{"task_slug":"rag","task_name":"RAG"},{"task_slug":"robust-object-detection","task_name":"Robust Object Detection"},{"task_slug":"scene-understanding","task_name":"Scene Understanding"},{"task_slug":"task-planning","task_name":"Task Planning"},{"task_slug":"object-detection-1","task_name":"object-detection"}],"methods":[{"method_slug":"adam","method_name":"Adam"},{"method_slug":"attention","method_name":"Attention"},{"method_slug":"attention-dropout","method_name":"Attention Dropout"},{"method_slug":"bart","method_name":"BART"},{"method_slug":"base","method_name":"BASE"},{"method_slug":"bert","method_name":"BERT"},{"method_slug":"bpe","method_name":"BPE"},{"method_slug":"dense-connections","method_name":"Dense Connections"},{"method_slug":"dropout","method_name":"Dropout"},{"method_slug":"layer-normalization","method_name":"Layer Normalization"},{"method_slug":"linear-layer","method_name":"Linear Layer"},{"method_slug":"linear-warmup-with-linear-decay","method_name":"Linear Warmup With Linear Decay"},{"method_slug":"multi-head-attention","method_name":"Multi-Head Attention"},{"method_slug":"rag","method_name":"RAG"},{"method_slug":"residual-connection","method_name":"Residual Connection"},{"method_slug":"sam","method_name":"SAM"},{"method_slug":"softmax","method_name":"Softmax"},{"method_slug":"weight-decay","method_name":"Weight Decay"},{"method_slug":"wordpiece","method_name":"WordPiece"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2504.21716","atlas_url":"https://app.syntology.ai/?focus=2504.21716","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2504.21716"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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