Related papers: LLM+MAP: Bimanual Robot Task Planning using Large …

Large language models (LLMs) have exhibited remarkable reasoning and planning capabilities. Most prior work in this area has used LLMs to reason through steps from an initial to a goal state or criterion, thereby effectively reasoning in a…

Large language models (LLMs) have demonstrated impressive capabilities in general scenarios, exhibiting a level of aptitude that approaches, in some aspects even surpasses, human-level intelligence. Among their numerous skills, the…

Large language models (LLMs) showcase many desirable traits for intelligent and helpful robots. However, they are also known to hallucinate predictions. This issue is exacerbated in robotics where LLM hallucinations may result in robots…

Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This work aims to leverage these new capabilities with an…

Dual-arm robots play a crucial role in improving efficiency and flexibility in complex multitasking scenarios. While existing methods have achieved promising results in task planning, they often fail to fully optimize task parallelism,…

This paper introduces a novel approach to integrating large language model (LLM) agents into automated production systems, aimed at enhancing task automation and flexibility. We organize production operations within a hierarchical framework…

Utilizing large language models (LLMs) for tool planning has emerged as a promising avenue for developing general AI systems, where LLMs automatically schedule external tools (e.g., vision models) to tackle complex tasks based on task…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…

With the emergence of Large Language Models (LLMs) and Vision Foundation Models (VFMs), multimodal AI systems benefiting from large models have the potential to equally perceive the real world, make decisions, and control tools as humans.…

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…

Leveraging Large Language Models (LLMs) to write policy code for controlling robots has gained significant attention. However, in long-horizon implicative tasks, this approach often results in API parameter, comments and sequencing errors,…

Large language models (LLMs) have shown remarkable reasoning capabilities, especially when prompted to generate intermediate reasoning steps (e.g., Chain-of-Thought, CoT). However, LLMs can still struggle with problems that are easy for…

The ability to wield tools was once considered exclusive to human intelligence, but it's now known that many other animals, like crows, possess this capability. Yet, robotic systems still fall short of matching biological dexterity. In this…

This study focuses on using large language models (LLMs) as a planner for embodied agents that can follow natural language instructions to complete complex tasks in a visually-perceived environment. The high data cost and poor sample…

Large Language Models (LLMs) have demonstrated exceptional abilities in reasoning for task planning. However, challenges remain under-explored for parallel schedules. This paper introduces a novel paradigm, plan-over-graph, in which the…

Multimodal Large Language Models (MLLMs) have shown impressive reasoning abilities and general intelligence in various domains. It inspires researchers to train end-to-end MLLMs or utilize large models to generate policies with…

Large Language Models (LLMs) excel in various natural language tasks but often struggle with long-horizon planning problems requiring structured reasoning. This limitation has drawn interest in integrating neuro-symbolic approaches within…

Recent studies have highlighted their proficiency in some simple tasks like writing and coding through various reasoning strategies. However, LLM agents still struggle with tasks that require comprehensive planning, a process that…

Real-time multi-robot coordination in hazardous and adversarial environments requires fast, reliable adaptation to dynamic threats. While Large Language Models (LLMs) offer strong high-level reasoning capabilities, the lack of safety…

Complex manipulation tasks often require robots with complementary capabilities to collaborate. We introduce a benchmark for LanguagE-Conditioned Multi-robot MAnipulation (LEMMA) focused on task allocation and long-horizon object…