Related papers: Agentic LLM Planning via Step-Wise PDDL Simulation…
We explore the use of GPT-4 on a humanoid robot in simulation and the real world as proof of concept of a novel large language model (LLM) driven behaviour method. LLMs have shown the ability to perform various tasks, including robotic…
The rapid shift from stateless large language models (LLMs) to autonomous, goal-driven agents raises a central question: When is agentic AI truly necessary? While agents enable multi-step reasoning, persistent memory, and tool…
Integrating large language models (LLMs) into personal assistants, like Xiao Ai and Blue Heart V, effectively enhances their ability to interact with humans, solve complex tasks, and manage IoT devices. Such assistants are also termed…
Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…
We introduce a new method that extracts knowledge from a large language model (LLM) to produce object-level plans, which describe high-level changes to object state, and uses them to bootstrap task and motion planning (TAMP). Existing work…
The planning ability of Large Language Models (LLMs) has garnered increasing attention in recent years due to their remarkable capacity for multi-step reasoning and their ability to generalize across a wide range of domains. While some…
Recent advancements in Large Language Model (LLM) agents have enabled complex multi-turn agentic tasks requiring extensive tool calling, where conversations can span dozens of API calls with increasingly large context windows. However,…
Controlling energy systems usually involves manually designed policies for decision-making, which can be complex and time-consuming to develop. This process requires interdisciplinary collaboration among multiple domain experts, resulting…
Large Language Models (LLM) hold potential to support dairy scholars and farmers by supporting decision-making and broadening access to knowledge for stakeholders with limited technical expertise. However, the substantial computational…
The potential of Large Language Model (LLM) as agents has been widely acknowledged recently. Thus, there is an urgent need to quantitatively \textit{evaluate LLMs as agents} on challenging tasks in interactive environments. We present…
Planning in textual environments have been shown to be a long-standing challenge even for current models. A recent, promising line of work uses LLMs to generate a formal representation of the environment that can be solved by a symbolic…
Foundation models, including large language models (LLMs) and vision-language models (VLMs), have recently enabled novel approaches to robot autonomy and human-robot interfaces. In parallel, vision-language-action models (VLAs) or large…
The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…
Symbolic task planning is a widely used approach to enforce robot autonomy due to its ease of understanding and deployment in robot architectures. However, techniques for symbolic task planning are difficult to scale in real-world,…
This paper investigates the effectiveness of small language models (SLMs) for agentic tasks (function/tool/API calling) with a focus on running agents on edge devices without reliance on cloud infrastructure. We evaluate SLMs using the…
We study the usage of language models (LMs) for planning over world models specified in the Planning Domain Definition Language (PDDL). We prompt LMs to generate Python programs that serve as generalised policies for solving PDDL problems…
This paper studies close-loop task planning, which refers to the process of generating a sequence of skills (a plan) to accomplish a specific goal while adapting the plan based on real-time observations. Recently, prompting Large Language…
Recent advancements in Large Language Models (LLMs) have spurred interest in deploying LLM agents to undertake tasks in the world. LLMs are often deployed in agent systems: code that orchestrates LLM calls and provides them with tools. We…
Effectively integrating Large Language Models (LLMs) into autonomous driving requires a balance between leveraging high-level reasoning and maintaining real-time efficiency. Existing approaches either activate LLMs too frequently, causing…
When automating plan generation for a real-world sequential decision problem, the goal is often not to replace the human planner, but to facilitate an iterative reasoning and elicitation process, where the human's role is to guide the AI…