Related papers: SmallPlan: Leverage Small Language Models for Sequ…

Planning represents a fundamental capability of intelligent agents, requiring comprehensive environmental understanding, rigorous logical reasoning, and effective sequential decision-making. While Large Language Models (LLMs) have…

Despite real-time planners exhibiting remarkable performance in autonomous driving, the growing exploration of Large Language Models (LLMs) has opened avenues for enhancing the interpretability and controllability of motion planning.…

Large language models (LLMs) provide robots with powerful contextual reasoning abilities and a natural human interface. Yet, current LLM-enabled robots typically depend on cloud-hosted models, limiting their usability in environments with…

Recently, decomposing complex problems into simple subtasks--a crucial part of human-like natural planning--to solve the given problem has significantly boosted the performance of large language models (LLMs). However, leveraging such…

Fine-tuning large language models (LLMs) with limited data poses a practical challenge in low-resource languages, specialized domains, and constrained deployment settings. While pre-trained LLMs provide strong foundations, effective…

A primary challenge in large language model (LLM) development is their onerous pre-training cost. Typically, such pre-training involves optimizing a self-supervised objective (such as next-token prediction) over a large corpus. This paper…

Despite the remarkable success of large language models (LLMs) on traditional natural language processing tasks, their planning ability remains a critical bottleneck in tackling complex multi-step reasoning tasks. Existing approaches mainly…

This study introduces a novel approach for traffic control systems by using Large Language Models (LLMs) as traffic controllers. The study utilizes their logical reasoning, scene understanding, and decision-making capabilities to optimize…

Large Language Models (LLMs) show potential for enhancing robotic path planning. This paper assesses visual input's utility for multimodal LLMs in such tasks via a comprehensive benchmark. We evaluated 15 multimodal LLMs on generating valid…

Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the large volume of perceptual information, much of which is…

Strategic planning is critical for multi-step reasoning, yet compact Large Language Models (LLMs) often lack the capacity to formulate global strategies, leading to error propagation in long-horizon tasks. Our analysis reveals that LLMs…

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…

Planning is a fundamental task in artificial intelligence that involves finding a sequence of actions that achieve a specified goal in a given environment. Large language models (LLMs) are increasingly used for applications that require…

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

With the rapid development of large language models (LLM), robots are starting to enjoy the benefits of new interaction methods that large language models bring. Because edge computing fulfills the needs for rapid response, privacy, and…

Large Language Models (LLMs) have recently made significant advances in code generation through the 'Chain-of-Thought' prompting technique. This technique empowers the model to autonomously devise "solution plans" to tackle intricate…

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…

Spatial reasoning in Large Language Models (LLMs) is the foundation for embodied intelligence. However, even in simple maze environments, LLMs still encounter challenges in long-term path-planning, primarily influenced by their spatial…

Large Language Models (LLMs) show growing promise in autonomous driving by reasoning over complex traffic scenarios to generate path plans. However, their tendencies toward overconfidence, and hallucinations raise critical safety concerns.…

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…