[2603.25405] System Design for Maintaining Internal State Consistency in Long-Horizon Robotic Tabletop Games

Computer Science > Robotics arXiv:2603.25405 (cs) [Submitted on 26 Mar 2026] Title:System Design for Maintaining Internal State Consistency in Long-Horizon Robotic Tabletop Games Authors:Guangyu Zhao, Ceyao Zhang, Chengdong Ma, Tao Wu, Yiyang Song, Haoxuan Ru, Yifan Zhong, Ruilin Yan, Lingfeng Li, Ruochong Li, Yu Li, Xuyuan Han, Yun Ding, Ruizhang Jiang, Xiaochuan Zhang, Yichao Li, Yuanpei Chen, Yaodong Yang, Yitao Liang View a PDF of the paper titled System Design for Maintaining Internal State Consistency in Long-Horizon Robotic Tabletop Games, by Guangyu Zhao and 18 other authors View PDF HTML (experimental) Abstract:Long-horizon tabletop games pose a distinct systems challenge for robotics: small perceptual or execution errors can invalidate accumulated task state, propagate across decision-making modules, and ultimately derail interaction. This paper studies how to maintain internal state consistency in turn-based, multi-human robotic tabletop games through deliberate system design rather than isolated component improvement. Using Mahjong as a representative long-horizon setting, we present an integrated architecture that explicitly maintains perceptual, execution, and interaction state, partitions high-level semantic reasoning from time-critical perception and control, and incorporates verified action primitives with tactile-triggered recovery to prevent premature state corruption. We further introduce interaction-level monitoring mechanisms to detect turn violations...