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arXiv · 2608.28300

MaCoPlanner: LLM-Assisted Manual-Compiled Task Planning with Proactive Safety Verification for Robotic Industrial Panel Operation

Guipeng Xin·Jiahe Xua·Mohammad Deghat·Chenhui Wan·Jie Liu·Youmin Hu·Zhongxu Hu
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Abstract

Robotic industrial panel operation requires not only accurate control localization but also compliance with operating procedures, safety rules, and device-state constraints distributed across heterogeneous manuals. This study presents MaCoPlanner, a task-planning framework built on knowledge compiled from equipment manuals that converts equipment manuals into a typed intermediate representation, retrieves task- and state-relevant evidence, and uses it to support plan generation. Before actuation, candidate plans are symbolically rolled out and checked against procedural and state-transition constraints; detected violations are localized and returned for targeted repair, while unresolved plans are rejected. A separate execution interface grounds verified symbolic actions to physical controls and updates the device state. Under an independent evaluation oracle, MaCoPlanner achieves a final violation rate of 2.7%, and 26.3% of the runs in the repair analysis are rejected after exhausting the refinement budget. Compared with Raw-Manual, task success increases from 62.8% to 84.4% on Level-2 tasks and from 25.9% to 43.2% on Level-3 tasks. Experiments on a controller-panel simulator without an attached industrial load further demonstrate integrated execution feasibility under representative interaction conditions, without claiming industrial deployment readiness.

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Guipeng Xin, Jiahe Xua, Mohammad Deghat, Chenhui Wan, Jie Liu, Youmin Hu, Zhongxu Hu. 2026-08-28. MaCoPlanner: LLM-Assisted Manual-Compiled Task Planning with Proactive Safety Verification for Robotic Industrial Panel Operation. https://arxiv.org/abs/2608.28300

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