Related papers: LLM-guided Task and Motion Planning using Knowledg…

Recently, advanced large language models (LLMs) have emerged at an increasingly rapid pace. However, when faced with complex problems, most users are often unable to provide accurate and effective prompts to interact with LLMs, thus…

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…

Complex manipulation tasks require careful integration of symbolic reasoning and motion planning. This problem, commonly referred to as Task and Motion Planning (TAMP), is even more challenging if the workspace is non-static, e.g. due to…

Knowledge-enhanced Pre-trained Language Model (PLM) has recently received significant attention, which aims to incorporate factual knowledge into PLMs. However, most existing methods modify the internal structures of fixed types of PLMs by…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based…

In task and motion planning (TAMP), the ambiguity and underdetermination of abstract descriptions used by task planning methods make it difficult to characterize physical constraints needed to successfully execute a task. The usual approach…

Recent advancements on Large Language Models (LLMs) enable AI Agents to automatically generate and execute multi-step plans to solve complex tasks. However, since LLM's content generation process is hardly controllable, current LLM-based…

Large language models (LLMs) have demonstrated significant potential to accelerate scientific discovery as valuable tools for analyzing data, generating hypotheses, and supporting innovative approaches in various scientific fields. In this…

Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task planning, and even…

Recent advancements in large language models (LLMs) have expanded their role in robotic task planning. However, while LLMs have been explored for generating feasible task sequences, their ability to ensure safe task execution remains…

While recent advances in vision-language models have accelerated the development of language-guided robot planners, their black-box nature often lacks safety guarantees and interpretability crucial for real-world deployment. Conversely,…

Large Language Models (LLMs) exhibit emerging in-context learning abilities through prompt engineering. The recent progress in large-scale generative models has further expanded their use in real-world language applications. However, the…

This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end…

Large Language Models (LLMs) have demonstrated remarkable ability in long-horizon Task and Motion Planning (TAMP) by translating clear and straightforward natural language problems into formal specifications such as the Planning Domain…

Large language models (LLMs) have demonstrated remarkable capabilities across a range of text-generation tasks. However, LLMs still struggle with problems requiring multi-step decision-making and environmental feedback, such as online…

Large Language Models (LLMs) have shown remarkable reasoning capabilities on complex tasks, but they still suffer from out-of-date knowledge, hallucinations, and opaque decision-making. In contrast, Knowledge Graphs (KGs) can provide…

Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language models (LLMs) for task planning seeks to address the…

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…

Large language models (LLMs) excel in tasks like question answering and dialogue, but complex tasks requiring interaction, such as negotiation and persuasion, require additional long-horizon reasoning and planning. Reinforcement learning…