相关论文: Vision-Language Interpreter for Robot Task Plannin…

While recent advances in vision-language models have accelerated the development of language-guided robot planners, their black-box nature often lacks safety guarantees and interpretability crucial for real-world deployment. Conversely,…

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…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Automating the generation of Planning Domain Definition Language (PDDL) with Large Language Model (LLM) opens new research topic in AI planning, particularly for complex real-world tasks. This paper introduces Image2PDDL, a novel framework…

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…

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…

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…

Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail…

Tool design and use reflect the ability to understand and manipulate the physical world through creativity, planning, and foresight. As such, these capabilities are often regarded as measurable indicators of intelligence across biological…

Large language models (LLMs) excel at processing and generating both text and code. However, LLMs have had limited applicability in grounded task-oriented dialogue as they are difficult to steer toward task objectives and fail to handle…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

Vision-Language models (VLMs) achieve strong performance on multimodal tasks but often fail at systematic visual reasoning tasks, leading to inconsistent or illogical outputs. Neuro-symbolic methods promise to address this by inducing…

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…

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…

Integrating Large Language Models with symbolic planners is a promising direction for obtaining verifiable and grounded plans, with recent work extending this idea to visual domains using Vision-Language Models (VLMs). However, a rigorous…

While Large Language Models (LLMs) excel at reasoning on text and Vision-Language Models (VLMs) are highly effective for visual perception, applying those models for visual instruction-based planning remains a widely open problem. In this…

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…

Large language models (LLMs) have shown promise in robotic procedural planning, yet their human-centric reasoning often omits the low-level, grounded details needed for robotic execution. Vision-language models (VLMs) offer a path toward…

The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…