State Machine — 7 States
IDLE to LISTENING to PROCESSING to AWAITING_CONFIRM to EXECUTING_ACTIONS to ACTING to SPEAKING
Event-driven transitions with barge-in support from any state to LISTENING
DAG-Based Plan Execution
LLM Planner to DAG Parser to Symbolic Verifier to Executor (parallel execution where dependencies allow)
Action Handlers (8/8)
CHECK_BATTERY — Working
NAVIGATE — Partial
SCAN_AREA — Working (VLM)
VERIFY_OBJECT — Stub
SPEAK — Working (TTS)
WAIT — Working
IDENTIFY_PERSON — Working (FR)
ALERT_OPERATOR — Working
Dynamic Replanning
SCAN_AREA VLM results can trigger LLM plan refinement. Server cancels current plan, requests refinement, executes new sub-plan.
Example: Initial 2-step plan to VLM detects hazards to Refined 6-step plan with VERIFY_OBJECT, additional SCAN_AREA, SPEAK