CIRRA: Dual-Level Continual Instruction Reconciliation with Ongoing Execution for Embodied Robot Agents in Interactive Household Tasks

What happened

arXiv:2610.08862v1 Announce Type: new Abstract: Household robots must accommodate new user instructions while executing ongoing tasks. Existing agents often regenerate or extensively revise the remaining task sequence, introducing plan ambiguity, logical inconsistency, and redundant execution.

CIRRA first grounds incoming instructions to unique executable skills and resolves underspecified actions and execution locations. It then preserves the ongoing subtask sequence as an execution backbone and generates integration candidates by inserting incoming subtasks into location-matched segments.

The semantic reasoner evaluates only modified segments to identify dependencies and conflicts and select the most logically coherent local integration. This structure-preserving process maintains alignment with ongoing execution, mitigates ambiguity and inconsistency, and reuses shared subtasks to reduce redundant execution.