Isik Baran Sandan | Searcharxiv

arXiv2026

GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs

Consider one robot guide dog escorting a blind user to a seat while a second retrieves and delivers an object. We introduce \textsc{GuideFetch}, a framework for coordinating this concurrent guide-and-fetch mission with heterogeneous robots. A large language model (LLM) instantiates a schedule-conditioned four-action schema; deterministic normalization and validation enforce registered targets, robot capabilities, and the selected schedule, while robot and object states govern execution and completion. We record 360 simulator runs over 90 scene--seed combinations under scripted and online plan-provenance conditions. All 180 online responses validate on the first request and match their scripted references, so the plan-provenance comparison tests normalized-plan agreement rather than a distinct execution factor. A simulator-free mutation test accepts two valid controls and rejects all 32 rule-violating variants. Across 90 scene--seed cases per schedule, sequential and parallel execution achieve $72/90$ and $71/90$ operational successes. Among 56 common successes, the implemented role-reassigned parallel protocol reduces mean makespan by 41.3\%. This system-level gain combines role assignment, action overlap, and scene geometry; state checks distinguish plan validity from verified mission completion.

cs.RO↗

arXiv2025

Knockout LLM Assessment: Using Large Language Models for Evaluations through Iterative Pairwise Comparisons

Large Language Models (LLMs) have shown to be effective evaluators across various domains such as machine translations or the scientific domain. Current LLM-as-a-Judge approaches rely mostly on individual assessments or a single round of pairwise assessments, preventing the judge LLM from developing a global ranking perspective. To address this, we present Knockout Assessment, an LLM-asa Judge method using a knockout tournament system with iterative pairwise comparisons. Experiments across three LLMs on two datasets show that knockout assessment improves scoring accuracy, increasing Pearson correlation with expert evaluations by 0.07 on average for university-level exam scoring and machine translation evaluations, aligning LLM assessments more closely with human scoring.

cs.CL↗