Related papers: Language-Augmented Symbolic Planner for Open-World…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Soft prompt learning has recently emerged as one of the methods of choice for adapting V&L models to a downstream task using a few training examples. However, current methods significantly overfit the training data, suffering from large…

Large Language Models (LLMs) and Vision Language Models (VLMs) have become popular tools for embodied high-level planning. However, their deployment in black-box settings often leads to unpredictable or costly errors. To harness their…

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…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Large Language Models (LLMs) demonstrate strong abilities in common-sense reasoning and interactive decision-making, but often struggle with complex, long-horizon planning tasks. Recent techniques have sought to structure LLM outputs using…

Unmanned Surface Vessels (USVs) are essential for various maritime operations. USV mission planning approach offers autonomous solutions for monitoring, surveillance, and logistics. Existing approaches, which are based on static methods,…

Using large language models (LLMs) to solve complex robotics problems requires understanding their planning capabilities. Yet while we know that LLMs can plan on some problems, the extent to which these planning capabilities cover the space…

Conventional Task and Motion Planning (TAMP) approaches rely on manually crafted interfaces connecting symbolic task planning with continuous motion generation. These domain-specific and labor-intensive modules are limited in addressing…

Large Vision-Language Models (LVLMs) show promise for embodied planning tasks but struggle with complex scenarios involving unfamiliar environments and multi-step goals. Current approaches rely on environment-agnostic imitation learning…

Recent large language models (LLMs) are capable of planning robot actions. In this paper, we explore how LLMs can be used for planning actions with tasks involving situational human-robot interaction (HRI). A key problem of applying LLMs in…

Large language models have emerged as a promising approach towards achieving general-purpose AI agents. The thriving open-source LLM community has greatly accelerated the development of agents that support human-machine dialogue interaction…

Path planning is a fundamental scientific problem in robotics and autonomous navigation, requiring the derivation of efficient routes from starting to destination points while avoiding obstacles. Traditional algorithms like A* and its…

Recent advances in Large Language Models (LLMs) are fostering their integration into several reasoning-related fields, including Automated Planning (AP). However, their integration into Hierarchical Planning (HP), a subfield of AP that…

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…

Large Language Models (LLMs) are poised to play an increasingly important role in our lives, providing assistance across a wide array of tasks. In the geospatial domain, LLMs have demonstrated the ability to answer generic questions, such…

Large language models (LLMs) achieve impressive results over various tasks, and ever-expanding public repositories contain an abundance of pre-trained models. Therefore, identifying the best-performing LLM for a given task is a significant…

Adapting to unforeseen novelties in open-world environments remains a major challenge for autonomous systems. While hybrid planning and reinforcement learning (RL) approaches show promise, they often suffer from sample inefficiency, slow…

Large Language Models (LLMs) have made significant strides in various intelligent tasks but still struggle with complex action reasoning tasks that require systematic search. To address this limitation, we propose a method that bridges the…

The rise of large language models (LLMs) has made natural language-driven route planning an emerging research area that encompasses rich user objectives. Current research exhibits two distinct approaches: direct route planning using…