# ERRA: An Embodied Representation and Reasoning Architecture for Long-Horizon Language-Conditioned Manipulation Tasks

> Research article (IEEE Robotics and Automation Letters, 2023) · cited 15× · AI/ML

**Wikidata**: [openalex:W4364322170](https://www.wikidata.org/wiki/openalex:W4364322170)  
**Source**: https://4ort.xyz/entity/erra-an-embodied-representation-and-reasoning-architecture-for-long-horizon-language-conditioned-manipulation-tasks