相关论文: CaStL: Constraints as Specifications through LLM T…

Pre-trained large language models (LLMs) show promise for robotic task planning but often struggle to guarantee correctness in long-horizon problems. Task and motion planning (TAMP) addresses this by grounding symbolic plans in low-level…

Real-world path planning tasks typically involve multiple constraints beyond simple route optimization, such as the number of routes, maximum route length, depot locations, and task-specific requirements. Traditional approaches rely on…

Large Language Models have been found to create plans that are neither executable nor verifiable in grounded environments. An emerging line of work demonstrates success in using the LLM as a formalizer to generate a formal representation of…

Cognitive systems generally require a human to translate a problem definition into some specification that the cognitive system can use to attempt to solve the problem or perform the task. In this paper, we illustrate that large language…

Foundation models like Vision-Language Models (VLMs) excel at common sense vision and language tasks such as visual question answering. However, they cannot yet directly solve complex, long-horizon robot manipulation problems requiring…

Solving complex planning problems requires Large Language Models (LLMs) to explicitly model the state transition to avoid rule violations, comply with constraints, and ensure optimality-a task hindered by the inherent ambiguity of natural…

Classical planning formulations like the Planning Domain Definition Language (PDDL) admit action sequences guaranteed to achieve a goal state given an initial state if any are possible. However, reasoning problems defined in PDDL do not…

There is a growing interest in applying pre-trained large language models (LLMs) to planning problems. However, methods that use LLMs directly as planners are currently impractical due to several factors, including limited correctness of…

Recent large language models (LLMs) have demonstrated remarkable performance on a variety of natural language processing (NLP) tasks, leading to intense excitement about their applicability across various domains. Unfortunately, recent work…

Recent advancements in large language models (LLMs) have spurred interest in robotic navigation that incorporates complex spatial, mathematical, and conditional constraints from natural language into the planning problem. Such constraints…

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…

Owing to their reasoning capabilities, large language models (LLMs) have been evaluated on planning tasks described in natural language. However, LLMs have largely been tested on planning domains without constraints. In order to deploy them…

Large Language Models (LLMs) have recently demonstrated impressive capabilities across various real-world applications. However, due to the current text-in-text-out paradigm, it remains challenging for LLMs to handle dynamic and complex…

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…

Motivated by the substantial achievements observed in Large Language Models (LLMs) in the field of natural language processing, recent research has commenced investigations into the application of LLMs for complex, long-horizon sequential…

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…

Automated planning using a symbolic planning language, such as PDDL, is a general approach to producing optimal plans to achieve a stated goal. However, creating suitable machine understandable descriptions of the planning domain, problem,…

Linear Temporal Logic (LTL) is a widely used task specification language for autonomous systems. To mitigate the significant manual effort and expertise required to define LTL-encoded tasks, several methods have been proposed for…

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…

This work develops an LLM-based optimization framework ensuring strict constraint satisfaction in network optimization. While LLMs possess contextual reasoning capabilities, existing approaches often fail to enforce constraints, causing…