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Large language models (LLMs) have shown significant potential for robotics applications, particularly task planning, by harnessing their language comprehension and text generation capabilities.
Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, et al. 2020 · 1901
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Hierarchical multi-modal place categorization
Andrzej Pronobis and Patric Jensfelt. 2011 · 2011
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Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin. 2017 · 2017
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Leashing the inner demons: Self-detoxification for language models
Canwen Xu, Zexue He, Zhankui He, and Julian McAuley. 2022 · 2017
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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, et al. 2022 · 2022
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Improving alignment of dialogue agents via targeted human judgements
Amelia Glaese, Nat McAleese, Maja Trebacz, John Aslanides, Vlad Firoiu, Timo Ewalds, Maribeth Rauh, Laura Weidinger, Martin Chadwick, Phoebe Thacker, et al. 2022 · 2022
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Housekeep: Tidying virtual households using commonsense reasoning
Yash Kant, Arun Ramachandran, Sriram Yenamandra, Igor Gilitschenski, Dhruv Batra, Andrew Szot, and Harsh Agrawal. 2022 · 2022
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Training language models to follow instructions with human feedback
Long Ouyang, Jeffrey Wu, Xu Jiang, Diogo Almeida, Carroll Wainwright, Pamela Mishkin, Chong Zhang, Sandhini Agarwal, Katarina Slama, Alex Ray, et al. 2022 · 2022
Earlier work this paper cites.
Rl4f: Generating natural language feedback with reinforcement learning for repairing model outputs
Afra Feyza Akyürek, Ekin Akyürek, Aman Madaan, Ashwin Kalyan, Peter Clark, Derry Wijaya, and Niket Tandon. 2023 · 2023
Cited alongside, same era.
Palm: Scaling language modeling with pathways
Aakanksha Chowdhery, Sharan Narang, Jacob Devlin, Maarten Bosma, Gaurav Mishra, Adam Roberts, Paul Barham, Hyung Won Chung, Charles Sutton, Sebastian Gehrmann, et al. 2023 · 2023
Cited alongside, same era.
Raft: Reward ranked finetuning for generative foundation model alignment
Hanze Dong, Wei Xiong, Deepanshu Goyal, Rui Pan, Shizhe Diao, Jipeng Zhang, Kashun Shum, and Tong Zhang. 2023 · 2023
Cited alongside, same era.
Reinforced self-training (rest) for language modeling
Caglar Gulcehre, Tom Le Paine, Srivatsan Srinivasan, Ksenia Konyushkova, Lotte Weerts, Abhishek Sharma, Aditya Siddhant, Alex Ahern, Miaosen Wang, Chenjie Gu, et al. 2023 · 2023
Cited alongside, same era.
Direct preference optimization: Your language model is secretly a reward model
Rafael Rafailov, Archit Sharma, Eric Mitchell, Stefano Ermon, Christopher D Manning, and Chelsea Finn. 2023 · 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 · 2023
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Training language models with language feedback at scale
Jérémy Scheurer, Jon Ander Campos, Tomasz Korbak, Jun Shern Chan, Angelica Chen, Kyunghyun Cho, and Ethan Perez. 2023 · 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 · 2023
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Wenlong Huang, Fei Xia, Dhruv Shah, Danny Driess, Andy Zeng, Yao Lu, Pete Florence, Igor Mordatch, Sergey Levine, Karol Hausman, et al. 2023 · 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 · 2023
Cited alongside, same era.
Chain of hindsight aligns language models with feedback
Hao Liu, Carmelo Sferrazza, and Pieter Abbeel. 2023 · 2023
Cited alongside, same era.
Llm as a robotic brain: Unifying egocentric memory and control
Jinjie Mai, Jun Chen, Bing Li, Guocheng Qian, Mohamed Elhoseiny, and Bernard Ghanem. 2023 · 2023
Cited alongside, same era.
Language models as zero-shot planners: Extracting actionable knowledge for embodied agents
Wenlong Huang, Pieter Abbeel, Deepak Pathak, and Igor Mordatch. 2022a
Cited in the paper.
Inner monologue: Embodied reasoning through planning with language models
Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, et al. 2022b
Cited in the paper.
Hugo Touvron, Louis Martin, Kevin Stone, Peter Albert, Amjad Almahairi, Yasmine Babaei, Nikolay Bashlykov, Soumya Batra, Prajjwal Bhargava, Shruti Bhosale, et al. 2023 · 2023
Later among the works it cites.
Tidybot: Personalized robot assistance with large language models
Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, and Thomas Funkhouser. 2023 · 2023
Later among the works it cites.
Direct preference optimization: Your language model is secretly a reward model
Rafael Rafailov, Archit Sharma, Eric Mitchell, Christopher D Manning, Stefano Ermon, and Chelsea Finn. 2024 · 2024
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