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An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution.
Strips: A new approach to the application of theorem proving to problem solving
Richard E. Fikes and Nils J. Nilsson · 1971
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The downward refinement property
Fahiem Bacchus and Qiang Yang · 1991
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PDDL—The Planning Domain Definition Language, 1998
M. Ghallab, A. Howe, C. Knoblock, D. Mcdermott, A. Ram, M. Veloso, D. Weld, and D. Wilkins · 1998
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Planning as heuristic search
Blai Bonet and Héctor Geffner · 2001
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Automated Planning: Theory and Practice
Malik Ghallab, Dana Nau, and Paolo Traverso · 2004
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Manipulation planning with probabilistic roadmaps
Thierry Siméon, Jean-Paul Laumond, Juan Cortés, and Anis Sahbani · 2004
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What is answer set programming?
Vladimir Lifschitz · 2008
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Sampling-based motion and symbolic action planning with geometric and differential constraints
Erion Plaku and Gregory D. Hager · 2010
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Hierarchical task and motion planning in the now
Leslie Pack Kaelbling and Tomás Lozano-Pérez · 2011
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Integrated task and motion planning in belief space
Leslie Pack Kaelbling and Tomás Lozano-Pérez · 2013
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FFRob: Leveraging symbolic planning for efficient task and motion planning
Caelan Reed Garrett, Tomá s Lozano-Pérez, and Leslie Pack Kaelbling · 2017
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Virtualhome: Simulating household activities via programs
Xavier Puig, Kevin Ra, Marko Boben, Jiaman Li, Tingwu Wang, Sanja Fidler, and Antonio Torralba · 2018
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Task planning in robotics: an empirical comparison of pddl-based and asp-based systems, 2019
Yuqian Jiang, Shiqi Zhang, Piyush Khandelwal, and Peter Stone · 2019
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Language models are few-shot learners, 2020
Tom B. Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, Sandhini Agarwal, Ariel Herbert-Voss, Gretchen Krueger, Tom Henighan, Rewon Child, Aditya Ramesh, Daniel M. Ziegler, Jeffrey Wu, Clemens Winter, Christopher Hesse, Mark Chen, Eric Sigler, Mateusz Litwin, Scott Gray, Benjamin Chess, Jack Clark, Christopher Berner, Sam McCandlish, Alec Radford, Ilya Sutskever, and Dario Amodei · 2020
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Emerging properties in self-supervised vision transformers
Mathilde Caron, Hugo Touvron, Ishan Misra, Hervé Jégou, Julien Mairal, Piotr Bojanowski, and Armand Joulin · 2021
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Combining task and motion planning: Challenges and guidelines
Masoumeh Mansouri, Federico Pecora, and Peter Schüller · 2021
Grounded decoding: Guiding text generation with grounded models for robot control
Wenlong Huang, Fei Xia, Dhruv Shah, Danny Driess, Andy Zeng, Yao Lu, Pete Florence, Igor Mordatch, Sergey Levine, Karol Hausman, and Brian Ichter · 2023
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On grounded planning for embodied tasks with language models
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Gpt-4 technical report, 2023
OpenAI · 2023
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Sayplan: Grounding large language models using 3d scene graphs for scalable task planning
Krishan Rana, Jesse Haviland, Sourav Garg, Jad Abou-Chakra, Ian Reid, and Niko Suenderhauf · 2023
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Robots that ask for help: Uncertainty alignment for large language model planners
Allen Z Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, and Anirudha Majumdar · 2023
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Do as I can, not as I say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Daniel Ho, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Eric Jang, Rosario Jauregui Ruano, Kyle Jeffrey, Sally Jesmonth, Nikhil J Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Kuang-Huei Lee, Sergey Levine, Yao Lu, Linda Luu, Carolina Parada, Peter Pastor, Jornell Quiambao, Kanishka Rao, Jarek Rettinghouse, Diego Reyes, Pierre Sermanet, Nicolas Sievers, Clayton Tan, Alexander Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Mengyuan Yan, and Andy Zeng · 2022
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Language models as zero-shot planners: Extracting actionable knowledge for embodied agents
Wenlong Huang, Pieter Abbeel, Deepak Pathak, and Igor Mordatch · 2022
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Code as policies: Language model programs for embodied control
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, and Andy Zeng · 2022
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Socratic models: Composing zero-shot multimodal reasoning with language
Andy Zeng, Maria Attarian, Brian Ichter, Krzysztof Choromanski, Adrian Wong, Stefan Welker, Federico Tombari, Aveek Purohit, Michael Ryoo, Vikas Sindhwani, Johnny Lee, Vincent Vanhoucke, and Pete Florence · 2022
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Scaling up and distilling down: Language-guided robot skill acquisition
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Integrated task and motion planning, 2020a
Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, and Tomás Lozano-Pérez
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Pddlstream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning, 2020b
Caelan Reed Garrett, Tomás Lozano-Pérez, and Leslie Pack Kaelbling
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Progprompt: Generating situated robot task plans using large language models
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TidyBot: Personalized robot assistance with large language models
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Abhimanyu Dubey, Abhinav Jauhri, Abhinav Pandey, Abhishek Kadian, Ahmad Al-Dahle, Aiesha Letman, Akhil Mathur, Alan Schelten, Amy Yang, Angela Fan, et al · 2024
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