相关论文: From Cooking Recipes to Robot Task Trees -- Improv…

The problem of relocating a set of objects to designated areas amidst movable obstacles can be framed as a Geometric Task and Motion Planning (G-TAMP) problem, a subclass of task and motion planning (TAMP). Traditional approaches to G-TAMP…

Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…

Real-time planning under uncertainty is critical for robots operating in complex dynamic environments. Consider, for example, an autonomous robot vehicle driving in dense, unregulated urban traffic of cars, motorcycles, buses, etc. The…

Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…

We demonstrate experimental results with LLMs that address robotics task planning problems. Recently, LLMs have been applied in robotics task planning, particularly using a code generation approach that converts complex high-level…

By augmenting Large Language Models (LLMs) with external tools, their capacity to solve complex problems has been significantly enhanced. However, despite ongoing advancements in the parsing capabilities of LLMs, incorporating all available…

Recipe generation from food images and ingredients is a challenging task, which requires the interpretation of the information from another modality. Different from the image captioning task, where the captions usually have one sentence,…

Generating sports game reports from structured tables is a complex table-to-text task that demands both precise data interpretation and fluent narrative generation. Traditional model-based approaches require large, annotated datasets, while…

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…

Over the past decade, data science and machine learning has grown from a mysterious art form to a staple tool across a variety of fields in academia, business, and government. In this paper, we introduce the concept of tree-based pipeline…

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…

In the rapidly evolving landscape of online recipe sharing within a globalized context, there has been a notable surge in research towards comprehending and generating food recipes. Recent advancements in large language models (LLMs) like…

While Large Language Model-based agents have demonstrated substantial progress in task completion, existing evaluation benchmarks tend to overemphasize single-task performance, with insufficient attention given to the crucial aspects of…

Large language models (LLMs) have demonstrated remarkable capabilities in code generation and structured reasoning; however, their performance often degrades on complex tasks that require consistent multi-step planning. Recent work has…

To enable non-experts to specify long-horizon, multi-robot collaborative tasks, language models are increasingly used to translate natural language commands into formal specifications. However, because translation can occur in multiple…

Recent works have shown great potentials of Large Language Models (LLMs) in robot task and motion planning (TAMP). Current LLM approaches generate text- or code-based reasoning chains with sub-goals and action plans. However, they do not…

For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…

There emerges a promising trend of using large language models (LLMs) to generate code-like plans for complex inference tasks such as visual reasoning. This paradigm, known as LLM-based planning, provides flexibility in problem solving and…

Recent advances in large language models (LLMs) have shown that test-time scaling can substantially improve model performance on complex tasks, particularly in the coding domain. Under this paradigm, models use a larger token budget during…

Many high-level procedural tasks can be decomposed into sequences of instructions that vary in their order and choice of tools. In the cooking domain, the web offers many partially-overlapping text and video recipes (i.e. procedures) that…