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Recent developments in pretrained large language models (LLMs) applied to robotics have demonstrated their capacity for sequencing a set of discrete skills to achieve open-ended goals in simple robotic tasks.
Integrated task and motion planning
C. R. Garrett, R. Chitnis, R. M. Holladay, B. Kim, T. Silver, L. P. Kaelbling, and T. Lozano-Pérez · 2010
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B. Da Silva, G. Konidaris, and A. Barto · 2012
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Combined task and motion planning through an extensible planner-independent interface layer
S. Srivastava, E. Fang, L. Riano, R. Chitnis, S. Russell, and P. Abbeel · 2014
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Benchmarking in manipulation research: The ycb object and model set and benchmarking protocols
B. Calli, A. Walsman, A. Singh, S. Srinivasa, P. Abbeel, and A. M. Dollar · 2015
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Incremental task and motion planning: A constraint-based approach
N. T. Dantam, Z. K. Kingston, S. Chaudhuri, and L. E. Kavraki · 2016
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Pybullet, a python module for physics simulation for games, robotics and machine learning
E. Coumans and Y. Bai · 2016
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Pddlstream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning
C. R. Garrett, T. Lozano-Perez, and L. P. Kaelbling · 2018
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Transporter networks: Rearranging the visual world for robotic manipulation
A. Zeng, P. Florence, J. Tompson, S. Welker, J. Chien, M. Attarian, T. Armstrong, I. Krasin, D. Duong, V. Sindhwani, and J. Lee · 2020
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On classifying continuous constraint satisfaction problems
T. Miltzow and R. F. Schmiermann · 2021
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Code as policies: Language model programs for embodied control
J. Liang, W. Huang, F. Xia, P. Xu, K. Hausman, B. Ichter, P. Florence, and A. Zeng · 2022
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Long-horizon manipulation of unknown objects via task and motion planning with estimated affordances
A. Curtis, X. Fang, L. P. Kaelbling, T. Lozano-Pérez, and C. R. Garrett · 2022
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Language models as zero-shot planners: Extracting actionable knowledge for embodied agents
W. Huang, P. Abbeel, D. Pathak, and I. Mordatch · 2022
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Learning neuro-symbolic relational transition models for bilevel planning
R. Chitnis, T. Silver, J. B. Tenenbaum, T. Lozano-Perez, and L. P. Kaelbling · 2022
Cited alongside, same era.
Large language models still can’t plan (a benchmark for llms on planning and reasoning about change)
K. Valmeekam, A. Olmo, S. Sreedharan, and S. Kambhampati · 2022
Cited alongside, same era.
Long-horizon manipulation of unknown objects via task and motion planning with estimated affordances
A. Curtis, X. Fang, L. P. Kaelbling, T. Lozano-Pérez, and C. R. Garrett · 2022
Cited alongside, same era.
Progprompt: Generating situated robot task plans using large language models
I. Singh, V. Blukis, A. Mousavian, A. Goyal, D. Xu, J. Tremblay, D. Fox, J. Thomason, and A. Garg · 2023
Cited alongside, same era.
Do as i can, not as i say: Grounding language in robotic affordances
Stap: Sequencing task-agnostic policies
C. Agia, T. Migimatsu, J. Wu, and J. Bohg · 2023
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Voxposer: Composable 3d value maps for robotic manipulation with language models
W. Huang, C. Wang, R. Zhang, Y. Li, J. Wu, and L. Fei-Fei · 2023
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Llm 3 :large language model-based task and motion planning with motion failure reasoning
S. Wang, M. Han, Z. Jiao, Z. Zhang, Y. N. Wu, S.-C. Zhu, and H. Liu · 2024
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Copa: General robotic manipulation through spatial constraints of parts with foundation models
H. Huang, F. Lin, Y. Hu, S. Wang, and Y. Gao · 2024
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Practice makes perfect: Planning to learn skill parameter policies
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B. Ichter, A. Brohan, Y. Chebotar, C. Finn, K. Hausman, A. Herzog, D. Ho, J. Ibarz, A. Irpan, E. Jang, R. Julian, D. Kalashnikov, S. Levine, Y. Lu, C. Parada, K. Rao, P. Sermanet, A. T. Toshev, V. Vanhoucke, F. Xia, T. Xiao, P. Xu, M. Yan, N. Brown, M. Ahn, O. Cortes, N. Sievers, C. Tan, S. Xu, D. Reyes, J. Rettinghouse, J. Quiambao, P. Pastor, L. Luu, K.-H. Lee, Y. Kuang, S. Jesmonth, N. J. Joshi, K. Jeffrey, R. J. Ruano, J. Hsu, K. Gopalakrishnan, B. David, A. Zeng, and C. K. Fu · 2023
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Doremi: Grounding language model by detecting and recovering from plan-execution misalignment
Y. Guo, Y.-J. Wang, L. Zha, Z. Jiang, and J. Chen · 2023
Cited alongside, same era.
Grounded decoding: Guiding text generation with grounded models for embodied agents
W. Huang, F. Xia, D. Shah, D. Driess, A. Zeng, Y. Lu, P. Florence, I. Mordatch, S. Levine, K. Hausman, and B. Ichter · 2023
Cited alongside, same era.
Bilevel planning for robots: An illustrated introduction
N. Kumar, W. McClinton, K. Le, and T. Silver · 2023
Cited alongside, same era.
Compositional Diffusion-Based Continuous Constraint Solvers
Z. Yang, J. Mao, Y. Du, J. Wu, J. B. Tenenbaum, T. Lozano-Pérez, and L. P. Kaelbling · 2023
Cited alongside, same era.
Task and motion planning with large language models for object rearrangement
Y. Ding, X. Zhang, C. Paxton, and S. Zhang · 2023
Cited alongside, same era.
Text2motion: from natural language instructions to feasible plans
K. Lin, C. Agia, T. Migimatsu, M. Pavone, and J. Bohg · 2023
Cited alongside, same era.
Inner monologue: Embodied reasoning through planning with language models
W. Huang, F. Xia, T. Xiao, H. Chan, J. Liang, P. Florence, A. Zeng, J. Tompson, I. Mordatch, Y. Chebotar, P. Sermanet, N. Brown, T. Jackson, L. Luu, S. Levine, K. Hausman, and B. Ichter · 2023
Cited alongside, same era.
N. Kumar, T. Silver, W. McClinton, L. Zhao, S. Proulx, T. Lozano-Pérez, L. P. Kaelbling, and J. Barry · 2024
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Autotamp: Autoregressive task and motion planning with llms as translators and checkers
Y. Chen, J. Arkin, C. Dawson, Y. Zhang, N. Roy, and C. Fan · 2024
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Saycanpay: Heuristic planning with large language models using learnable domain knowledge
R. Hazra, P. Z. Dos Martires, and L. De Raedt · 2024
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Replan: Robotic replanning with perception and language models
M. Skreta, Z. Zhou, J. L. Yuan, K. Darvish, A. Aspuru-Guzik, and A. Garg · 2024
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Large language models can plan your travels rigorously with formal verification tools
Y. Hao, Y. Chen, Y. Zhang, and C. Fan · 2024
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Satlm: Satisfiability-aided language models using declarative prompting
X. Ye, Q. Chen, I. Dillig, and G. Durrett · 2024
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Llms can’t plan, but can help planning in llm-modulo frameworks
S. Kambhampati, K. Valmeekam, L. Guan, K. Stechly, M. Verma, S. Bhambri, L. Saldyt, and A. Murthy · 2024
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Grounded sam: Assembling open-world models for diverse visual tasks, 2024
T. Ren, S. Liu, A. Zeng, J. Lin, K. Li, H. Cao, J. Chen, X. Huang, Y. Chen, F. Yan, Z. Zeng, H. Zhang, F. Li, J. Yang, H. Li, Q. Jiang, and L. Zhang · 2024
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