HODAgent: Towards On-Demand, Responsive Humanoids for Physical World Human Interaction
arXiv:2608.17584v1 Announce Type: new Abstract: We propose HODAgent, a System-2 embodied agent for humanoid robots in service settings, addressing situated intent, responsive execution, task revision, and outcome verification. Its semi-duplex architecture integrates an Env-Interactor, Planner, Executor, and hierarchical Memory to maintain coherent interaction, planning, and task state during service episodes. This allows handling new requests during motion, retaining progress, revising actions, ...
arXiv cs.RO
·Wang Warren Chen, Jiahao Zhang, Zhenjiang Li, Mingxu Wang, Lei Yi, Yuchen Kang, Shuo Sun, Ziping Chen, Jie Chen
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