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Multi-modal Large Language Model (MLLM) refers to a model expanded from a Large Language Model (LLM) that possesses the capability to handle and infer multi-modal data. Current MLLMs typically begin by using LLMs to decompose tasks into…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…

Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way.…

Recent works have shown great potentials of Large Language Models (LLMs) in robot task and motion planning (TAMP). Current LLM approaches generate text- or code-based reasoning chains with sub-goals and action plans. However, they do not…

Large Language Models (LLMs) have demonstrated their remarkable capabilities in numerous fields. This survey focuses on how LLMs empower users, regardless of their technical background, to use human languages to automatically generate…

By augmenting Large Language Models (LLMs) with external tools, their capacity to solve complex problems has been significantly enhanced. However, despite ongoing advancements in the parsing capabilities of LLMs, incorporating all available…

Recently, program synthesis driven by large language models (LLMs) has become increasingly popular. However, program synthesis for machine learning (ML) tasks still poses significant challenges. This paper explores a novel form of program…

The integration of large language models (LLMs) into automated algorithm design has shown promising potential. A prevalent approach embeds LLMs within search routines to iteratively generate and refine candidate algorithms. However, most…

Developing domain models is one of the few remaining places that require manual human labor in AI planning. Thus, in order to make planning more accessible, it is desirable to automate the process of domain model generation. To this end, we…

Pre-trained large language models (LLMs) show promise for robotic task planning but often struggle to guarantee correctness in long-horizon problems. Task and motion planning (TAMP) addresses this by grounding symbolic plans in low-level…

Large Language Models (LLMs) trained using massive text datasets have recently shown promise in generating action plans for robotic agents from high level text queries. However, these models typically do not consider the robot's…

Large Language Models (LLMs) are capable of transforming natural language domain descriptions into plausibly looking PDDL markup. However, ensuring that actions are consistent within domains still remains a challenging task. In this paper…

Large language models (LLMs) have achieved great success in many fields, and recent works have studied exploring LLMs for graph discriminative tasks such as node classification. However, the abilities of LLMs for graph generation remain…

Robotic agents must master common sense and long-term sequential decisions to solve daily tasks through natural language instruction. The developments in Large Language Models (LLMs) in natural language processing have inspired efforts to…

Recent large language models (LLMs) are promising for making decisions in grounded environments. However, LLMs frequently fail in complex decision-making tasks due to the misalignment between the pre-trained knowledge in LLMs and the actual…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Accurate load forecasting is crucial for maintaining the power balance between generators and consumers,particularly with the increasing integration of renewable energy sources, which introduce significant intermittent volatility. With the…

Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the…

Recent work has considered whether large language models (LLMs) can function as planners: given a task, generate a plan. We investigate whether LLMs can serve as generalized planners: given a domain and training tasks, generate a program…