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arXiv · 2602.09940

Instruct2Act: From Human Instruction to Actions Sequencing and Execution via Robot Action Network for Robotic Manipulation

Archit Sharma·Dharmendra Sharma·John Rebeiro·Peeyush Thakur·Narendra Dhar·Laxmidhar Behera
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Abstract

Robots often struggle to follow free-form human instructions in real-world settings due to computational and sensing limitations. We address this gap with a lightweight, fully on-device pipeline that converts natural-language commands into reliable manipulation. Our approach has two stages: (i) the instruction to actions module (Instruct2Act), a compact BiLSTM with a multi-head-attention autoencoder that parses an instruction into an ordered sequence of atomic actions (e.g., reach, grasp, move, place); and (ii) the robot action network (RAN), which uses the dynamic adaptive trajectory radial network (DATRN) together with a vision-based environment analyzer (YOLOv8) to generate precise control trajectories for each sub-action. The entire system runs on a modest system with no cloud services. On our custom proprietary dataset, Instruct2Act attains 91.5% sub-actions prediction accuracy while retaining a small footprint. Real-robot evaluations across four tasks (pick-place, pick-pour, wipe, and pick-give) yield an overall 90% success; sub-action inference completes in < 3.8s, with end-to-end executions in 30-60s depending on task complexity. These results demonstrate that fine-grained instruction-to-action parsing, coupled with DATRN-based trajectory generation and vision-guided grounding, provides a practical path to deterministic, real-time manipulation in resource-constrained, single-camera settings.

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Archit Sharma, Dharmendra Sharma, John Rebeiro, Peeyush Thakur, Narendra Dhar, Laxmidhar Behera. 2026-02-10. Instruct2Act: From Human Instruction to Actions Sequencing and Execution via Robot Action Network for Robotic Manipulation. https://arxiv.org/abs/2602.09940

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