{
  "abstract": "The present disclosure provides a method for coordinating task execution among multiple humanoid robots, comprising receiving a high-level task command, decomposing it into sub-tasks, determining a cost-optimized assignment using a cost-optimized bipedal action model (CoBAM) based on energy consumption, time to completion, and robot capabilities, and transmitting the assignment to assigned robots. The CoBAM comprises a hierarchical architecture including an L2 beta model operating at 1-20 Hz for high-level planning and an L1 alpha model operating at 100-10,000 Hz for continuous control commands. The cost function considers battery levels, physical distances between robot and sub-task locations, and mechanical wear factors associated with specific joint movements.",
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  "source_date": "2026-04-16",
  "source_id": "US-2026102909-A1",
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  "supersedes": null,
  "title": "Dynamic task assignment amongst communicating humanoid robots",
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