相关论文: Cooking Task Planning using LLM and Verified by Gr…

Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen…

A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques,…

Table understanding is key to addressing challenging downstream tasks such as table-based question answering and fact verification. Recent works have focused on leveraging Chain-of-Thought and question decomposition to solve complex…

Although large language models (LLMs) have demonstrated impressive ability in code generation, they are still struggling to address the complicated intent provided by humans. It is widely acknowledged that humans typically employ planning…

Much research has highlighted the impressive capabilities of large language models (LLMs), like GPT and Bard, for solving introductory programming exercises. Recent work has shown that LLMs can effectively solve a range of more complex…

Task and Motion Planning (TAMP) integrates high-level task planning and low-level motion planning to equip robots with the autonomy to effectively reason over long-horizon, dynamic tasks. Optimization-based TAMP focuses on hybrid…

In the Vision-and-Language Navigation (VLN) task, the agent is required to navigate to a destination following a natural language instruction. While learning-based approaches have been a major solution to the task, they suffer from high…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

Large Language Models (LLMs) excel at many tasks, yet they struggle to produce truly creative, diverse ideas. In this paper, we introduce a novel approach that enhances LLM creativity. We apply LLMs for translating between natural language…

Large Language Models (LLMs) exhibit strong reasoning abilities for planning long-horizon, real-world tasks, yet existing agent benchmarks focus on task completion while neglecting time efficiency in parallel and asynchronous operations. To…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

Designing powerful tools that support cooking activities has rapidly gained popularity due to the massive amounts of available data, as well as recent advances in machine learning that are capable of analyzing them. In this paper, we…

Large language models (LLMs) are increasingly explored in robot manipulation, but many existing methods struggle to adapt to new environments. Many systems require either environment-specific policy training or depend on fixed prompts and…

In robot-assisted minimally invasive surgery, we introduce the Surgical Action Planning (SAP) task, which generates future action plans from visual inputs to address the absence of intraoperative predictive planning in current intelligent…

Recent advancements in Large Language Models (LLMs) have sparked a revolution across many research fields. In robotics, the integration of common-sense knowledge from LLMs into task and motion planning has drastically advanced the field by…

Large Language Models (LLMs) have shown promise as robotic planners but often struggle with long-horizon and complex tasks, especially in specialized environments requiring external knowledge. While hierarchical planning and…

In the realm of data-driven AI technology, the application of open-source large language models (LLMs) in robotic task planning represents a significant milestone. Recent robotic task planning methods based on open-source LLMs typically…

Large Language Models (LLMs) have showcased impressive reasoning capabilities, particularly when guided by specifically designed prompts in complex reasoning tasks such as math word problems. These models typically solve tasks using a…

Completing complex tasks in unpredictable settings like home kitchens challenges robotic systems. These challenges include interpreting high-level human commands, such as "make me a hot beverage" and performing actions like pouring a…

Travel planning is a complex task that involves generating a sequence of actions related to visiting places subject to constraints and maximizing some user satisfaction criteria. Traditional approaches rely on problem formulation in a given…