To facilitate the wider adoption of robotics, accessible programming tools are required for non-experts. Observational learning enables intuitive human skills transfer through hands-on demonstrations, but relying solely on visual input can be inefficient in terms of scalability and failure mitigation, especially when based on a single demonstration. This paper presents a human-in-the-loop method for enhancing the robot execution plan, automatically generated based on a single RGB video, with natural language input to a Large Language Model (LLM). By including user-specified goals or critical task aspects and exploiting the LLM common-sense reasoning, the system adjusts the vision-based plan to prevent potential failures and adapts it based on the received instructions. Experiments demonstrated the framework intuitiveness and effectiveness in correcting vision-derived errors and adapting plans without requiring additional demonstrations. Moreover, interactive plan refinement and hallucination corrections promoted system robustness.
@article{arxiv.2507.20870,
title = {A Human-in-the-loop Approach to Robot Action Replanning through LLM Common-Sense Reasoning},
author = {Elena Merlo and Marta Lagomarsino and Arash Ajoudani},
journal= {arXiv preprint arXiv:2507.20870},
year = {2025}
}