HEART: Coordination of Heterogeneous Expert Agents for Physically Grounded Robotic Task Planning

arXiv:2606.25404v1 Announce Type: new Abstract: Large Language Models (LLMs) can reason over complex instructions but often fail to satisfy the physical and spatial constraints required for robotic task planning. Recent LLM-based planners directly translate text into action sequences, yet they lack structured reasoning about feasibility, reachability, and logical order, resulting in invalid or incomplete plans. We present a heterogeneous multi-LLM framework that decomposes instructions into atom...