Related papers: Planning with Vision-Language Models and a Use Cas…

Solving complex planning problems requires Large Language Models (LLMs) to explicitly model the state transition to avoid rule violations, comply with constraints, and ensure optimality-a task hindered by the inherent ambiguity of natural…

There is a growing interest in applying pre-trained large language models (LLMs) to planning problems. However, methods that use LLMs directly as planners are currently impractical due to several factors, including limited correctness of…

Large language models (LLMs) have demonstrated impressive capabilities across diverse tasks, yet their ability to perform structured symbolic planning remains limited, particularly in domains requiring formal representations like the…

In recent advancements, large language models (LLMs) have exhibited proficiency in code generation and chain-of-thought reasoning, laying the groundwork for tackling automatic formal planning tasks. This study evaluates the potential of…

In symbolic planning systems, the knowledge on the domain is commonly provided by an expert. Recently, an automatic abstraction procedure has been proposed in the literature to create a Planning Domain Definition Language (PDDL)…

Vision-language models (VLMs) have been applied to robot task planning problems, where the robot receives a task in natural language and generates plans based on visual inputs. While current VLMs have demonstrated strong vision-language…

We propose PSALM-V, the first autonomous neuro-symbolic learning system able to induce symbolic action semantics (i.e., pre- and post-conditions) in visual environments through interaction. PSALM-V bootstraps reliable symbolic planning…

Classical planners are powerful systems, but modeling tasks in input formats such as PDDL is tedious and error-prone. In contrast, planning with Large Language Models (LLMs) allows for almost any input text, but offers no guarantees on plan…

Recently, there has been growing interest in leveraging large language models (LLMs) to generate symbolic world models from textual descriptions. Although LLMs have been extensively explored in the context of world modeling, prior studies…

Vision Language Models (VLMs) show strong potential for visual planning but struggle with precise spatial and long-horizon reasoning, while Planning Domain Definition Language (PDDL) planners excel at formal long-horizon planning but cannot…

Large language models (LLMs) are accelerating the development of language-guided robot planners. Meanwhile, symbolic planners offer the advantage of interpretability. This paper proposes a new task that bridges these two trends, namely,…

Large Language Models (LLMs) have shown remarkable performance in various natural language tasks, but they often struggle with planning problems that require structured reasoning. To address this limitation, the conversion of planning…

The realization of intelligent robots, operating autonomously and interacting with other intelligent agents, human or artificial, requires the integration of environment perception, reasoning, and action. Classic Artificial Intelligence…

Using LLMs not to predict plans but to formalize an environment into the Planning Domain Definition Language (PDDL) has been shown to improve performance and control. While most existing methodology only applies to fully observable…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…

Vision-language models (VLMs) have shown strong performance on static visual understanding, yet they still struggle with dynamic spatial reasoning that requires imagining how scenes evolve under egocentric motion. Recent efforts address…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…

Vision-language models (VLMs) have achieved remarkable success in scene understanding and perception tasks, enabling robots to plan and execute actions adaptively in dynamic environments. However, most multimodal large language models lack…

The advancement of vision language models (VLMs) has empowered embodied agents to accomplish simple multimodal planning tasks, but not long-horizon ones requiring long sequences of actions. In text-only simulations, long-horizon planning…