Related papers: Dynamic Planning with a LLM

Symbolic task planning is a widely used approach to enforce robot autonomy due to its ease of understanding and deployment in robot architectures. However, techniques for symbolic task planning are difficult to scale in real-world,…

Neural-symbolic methods have demonstrated efficiency in enhancing the reasoning abilities of large language models (LLMs). However, existing methods mainly rely on syntactically mapping natural languages to complete formal languages like…

With the recent development of natural language generation models - termed as large language models (LLMs) - a potential use case has opened up to improve the way that humans interact with robot assistants. These LLMs should be able to…

As the strength of Large Language Models (LLMs) has grown over recent years, so too has interest in their use as the underlying models for autonomous agents. Although LLMs demonstrate emergent abilities and broad expertise across natural…

When automating plan generation for a real-world sequential decision problem, the goal is often not to replace the human planner, but to facilitate an iterative reasoning and elicitation process, where the human's role is to guide the AI…

The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…

Multi-robot task planning requires decomposing natural-language instructions into executable actions for heterogeneous robot teams. Conventional Planning Domain Definition Language (PDDL) planners provide rigorous guarantees but struggle to…

Recent advances in large language models (LLMs) have enabled the automatic generation of executable code for task planning and control in embodied agents such as robots, demonstrating the potential of LLM-based embodied intelligence.…

Large language models (LLMs) excel at solving problems with clear and complete statements, but often struggle with nuanced environments or interactive tasks which are common in most real-world scenarios. This highlights the critical need…

Large language models (LLMs) with memory are computationally universal. However, mainstream LLMs are not taking full advantage of memory, and the designs are heavily influenced by biological brains. Due to their approximate nature and…

Human reasoning relies on constructing and manipulating mental models -- simplified internal representations of situations used to understand and solve problems. Conceptual diagrams (e.g., a sketch drawn to aid reasoning) externalize these…

Dynamic programming (DP) is a fundamental method in operations research, but formulating DP models has traditionally required expert knowledge of both the problem context and DP techniques. Large Language Models (LLMs) offer the potential…

Large Language Models (LLMs) have demonstrated remarkable capabilities across various tasks, yet they face significant challenges in embodied task planning scenarios that require continuous environmental understanding and action generation.…

Large language models (LLMs), when guided by explicit textual plans, can perform reliable step-by-step reasoning during problem-solving. However, generating accurate and effective textual plans remains challenging due to LLM hallucinations…

The rise of Large Reasoning Models (LRMs) signifies a paradigm shift toward advanced computational reasoning. Yet, this progress disrupts traditional agent frameworks, traditionally anchored by execution-oriented Large Language Models…

The performance of Large language models (LLMs) across a broad range of domains has been impressive but have been critiqued as not being able to reason about their process and conclusions derived. This is to explain the conclusions draw,…

Large Language Models (LLMs) have shown promising results across various tasks, yet their reasoning capabilities remain a fundamental challenge. Developing AI systems with strong reasoning capabilities is regarded as a crucial milestone in…

Large Language Models (LLMs) have demonstrated remarkable capabilities in solving various tasks, yet they often struggle with comprehensively addressing complex and vague problems. Existing approaches, including multi-agent LLM systems,…

Current Large Language Models (LLMs) exhibit a critical modal disconnect: they possess vast semantic knowledge but lack the procedural grounding to respect the immutable laws of the physical world. Consequently, while these agents…

We propose a novel architecture for integrating large language models (LLMs) with a persistent, interactive Lisp environment. This setup enables LLMs to define, invoke, and evolve their own tools through programmatic interaction with a live…