Towards Humanoid Robot Autonomy: A Dynamic Architecture Integrating Continuous thought Machines (CTM) and Model Context Protocol (MCP)

• URL: http://arxiv.org/abs/2505.19339v1
• Date: Sun, 25 May 2025 22:12:35 GMT
• Title: Towards Humanoid Robot Autonomy: A Dynamic Architecture Integrating Continuous thought Machines (CTM) and Model Context Protocol (MCP)
• Authors: Libo Wang,
• Abstract summary: This work designs a dynamic architecture connecting continuous thought machines (CTM) and model context protocol (MCP)<n>It proposes a reference experience for exploring the autonomous dynamic coding of humanoid robots based on continuous thinking to achieve human-like autonomous actions.
• Score: 4.586907225774023
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: To address the gaps between the static pre-set "thinking-planning-action" of humanoid robots in unfamiliar scenarios and the highly programmed "call tool-return result" due to the lack of autonomous coding capabilities, this work designs a dynamic architecture connecting continuous thought machines (CTM) and model context protocol (MCP). It proposes a theoretical parallel solution through tick-slab and uses rank compression to achieve parameter suppression to provide a solution for achieving autonomous actions due to autonomous coding. The researcher used a simulation-based experiment using OpenAI's o4-mini-high as a tool to build the experimental environment, and introduced the extended SayCan dataset to conduct nine epochs of experiments. The experimental results show that the CTM-MCP architecture is feasible and effective through the data results of seven metrics: task success rate (TSR), execution success rate (ESR), average episode length (AEL), ROSCOE, REVEAL, proficiency self-assessment (PSA), task effectiveness (TE). In practice, it provides a reference experience for exploring the autonomous dynamic coding of humanoid robots based on continuous thinking to achieve human-like autonomous actions.

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