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Recent advances in task planning leverage Large Language Models (LLMs) to improve generalizability by combining such models with classical planning algorithms to address their inherent limitations in reasoning capabilities.
Recognizing object affordances to support scene reasoning for manipulation tasks
Fu-Jen Chu, Ruinian Xu, Chao Tang, and Patricio A Vela · 1909
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The theory of affordances
James J Gibson · 1977
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Prolog: the standard: reference manual
Pierre Deransart, Laurent Cervoni, and AbdelAli Ed-Dbali · 1996
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The Fast Downward Planning System
M. Helmert · 2006
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Gibsonian affordances for roboticists
Anthony Chemero and Michael T. Turvey · 2007
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Grounding planning operators by affordances
Christopher Lörken and Joachim Hertzberg · 2008
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Affordance-based reasoning in robot task planning
Iman Awaad, Gerhard K Kraetzschmar, and Joachim Hertzberg · 2013
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Robot learning and use of affordances in goal-directed tasks
Chang Wang, Koen V. Hindriks, and Robert Babuska · 2013
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Finding Ways to Get the Job Done: An Affordance-Based Approach
Iman Awaad, Gerhard Kraetzschmar, and Joachim Hertzberg · 2014
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The role of functional affordances in socializing robots
Iman Awaad, Gerhard K Kraetzschmar, and Joachim Hertzberg · 2015
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Relational affordances for multiple-object manipulation
Bogdan Moldovan, Plinio Moreno, Davide Nitti, José Santos-Victor, and Luc De Raedt · 2018
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Armar-6: A high-performance humanoid for human-robot collaboration in real world scenarios
Tamim Asfour, Mirko Wächter, Lukas Kaul, Samuel Rader, Pascal Weiner, Simon Ottenhaus, Raphael Grimm, You Zhou, Markus Grotz, and Fabian Paus · 2019
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A review of methodologies for natural-language-facilitated human–robot cooperation
Rui Liu and Xiaoli Zhang · 2019
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Semantic scene manipulation based on 3d spatial object relations and language instructions
Rainer Kartmann, Danqing Liu, and Tamim Asfour · 2021
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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, K. Gopalakrishnan, Karol Hausman, Alexander Herzog, Daniel Ho, Jasmine Hsu, Julian Ibarz, Brian Ichter, A. Irpan, Eric Jang, Rosario Jauregui Ruano, Kyle Jeffrey, Sally Jesmonth, N. Joshi, Ryan C. Julian, Dmitry Kalashnikov, Yuheng Kuang, Kuang-Huei Lee, S. Levine, Yao Lu, Linda Luu, Carolina Parada, P. Pastor, Jornell Quiambao, Kanishka Rao, Jarek Rettinghouse, D. Reyes, P. Sermanet, Nicolas Sievers, Clayton Tan, Alexander Toshev, Vincent Vanhoucke, F. Xia, Ted Xiao, Peng Xu, Sichun Xu, and Mengyuan Yan · 2022
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yolov5: v7.0 - YOLOv5 SOTA Realtime Instance Segmentation, 2022
Glenn Jocher, Ayush Chaurasia, Alex Stoken, Jirka Borovec, Yonghye Kwon, Kalen Michael, Jiacong Fang, Zeng Yifu, Colin Wong, Diego Montes, Zhiqiang Wang, Cristi Fati, Jebastin Nadar, Laughing, UnglvKitDe, Victor Sonck, tkianai, Piotr Skalski, Adam Hogan, Dhruv Nair, Max Strobel, and Mrinal Jain · 2022
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Large Language Models Struggle to Learn Long-Tail Knowledge
Nikhil Kandpal, H. Deng, Adam Roberts, Eric Wallace, and Colin Raffel · 2022
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Megapose: 6d pose estimation of novel objects via render & compare
Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, and Josef Sivic · 2022
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SGL: Symbolic Goal Learning in a Hybrid, Modular Framework for Human Instruction Following
Ruinian Xu, Hongyi Chen, Yunzhi Lin, and Patricio A. Vela · 2022
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AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers
Evaluation of Pretrained Large Language Models in Embodied Planning Tasks
Christina Sarkisyan, Alexandr Korchemnyi, Alexey K. Kovalev, and Aleksandr I. Panov · 2023
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ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, and Animesh Garg · 2023
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LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models
Chan Hee Song, Jiaman Wu, Clayton Washington, Brian M. Sadler, Wei-Lun Chao, and Yu Su · 2023
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Large Language Models Still Can’t Plan (A Benchmark for LLMs on Planning and Reasoning about Change)
Karthik Valmeekam, Alberto Olmo, Sarath Sreedharan, and Subbarao Kambhampati · 2023
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ChatGPT Empowered Long-Step Robot Control in Various Environments: A Case Application
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Yongchao Chen, Jacob Arkin, Yang Zhang, Nicholas Roy, and Chuchu Fan · 2023
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Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worlds
Yan Ding, Xiaohan Zhang, Saeid Amiri, Nieqing Cao, Hao Yang, Andy Kaminski, Chad Esselink, and Shiqi Zhang · 2023
Cited alongside, same era.
PaLM-E: An Embodied Multimodal Language Model
Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, and Pete Florence · 2023
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K-vil: Keypoints-based visual imitation learning
Jianfeng Gao, Zhi Tao, Noémie Jaquier, and Tamim Asfour · 2023
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CRITIC: Large Language Models Can Self-Correct with Tool-Interactive Critiquing
Zhibin Gou, Zhihong Shao, Yeyun Gong, Yelong Shen, Yujiu Yang, Nan Duan, and Weizhu Chen · 2023
Cited alongside, same era.
Lin Guan, Karthik Valmeekam, Sarath Sreedharan, and Subbarao Kambhampati · 2023
Cited alongside, same era.
Interactive and incremental learning of spatial object relations from human demonstrations
Rainer Kartmann and Tamim Asfour · 2023
Cited alongside, same era.
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 · 2023
Cited alongside, same era.
Naoki Wake, Atsushi Kanehira, Kazuhiro Sasabuchi, Jun Takamatsu, and Katsushi Ikeuchi · 2023
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Zihao Wang, Shaofei Cai, Anji Liu, Xiaojian Ma, and Yitao Liang · 2023
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Chain-of-Thought Prompting Elicits Reasoning in Large Language Models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Brian Ichter, Fei Xia, Ed Chi, Quoc Le, and Denny Zhou · 2023
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Translating Natural Language to Planning Goals with Large-Language Models
Yaqi Xie, Chen Yu, Tongyao Zhu, Jinbin Bai, Ze Gong, and Harold Soh · 2023
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Large Language Models as Commonsense Knowledge for Large-Scale Task Planning
Zirui Zhao, Wee Sun Lee, and David Hsu · 2023
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ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planning
Zhehua Zhou, Jiayang Song, Kunpeng Yao, Zhan Shu, and Lei Ma · 2023
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Incremental learning of humanoid robot behavior from natural interaction and large language models
Leonard Bärmann, Rainer Kartmann, Fabian Peller-Konrad, Jan Niehues, Alex Waibel, and Tamim Asfour · 2024
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Delta: Decomposed efficient long-term robot task planning using large language models
Yuchen Liu, Luigi Palmieri, Sebastian Koch, Ilche Georgievski, and Marco Aiello · 2024
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Christoph Pohl, Fabian Reister, Fabian Peller-Konrad, and Tamim Asfour · 2024
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KITchen: A Real-World Benchmark and Dataset for 6D Object Pose Estimation in Kitchen Environments
Abdelrahman Younes and Tamim Asfour · 2024
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