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We aim to evaluate Large Language Models (LLMs) for embodied decision making.
A markovian decision process
Richard Bellman · 1957
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Amir Pnueli · 1977
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Temporal logic motion planning for mobile robots
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The fast downward planning system
Malte Helmert · 2006
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Temporal-logic-based reactive mission and motion planning
Hadas Kress-Gazit, Georgios Fainekos, and George Pappas · 2009
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Optimal path planning for surveillance with temporal-logic constraints*
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Visual semantic planning using deep successor representations
Yuke Zhu, Daniel Gordon, Eric Kolve, Dieter Fox, Li Fei-Fei, Abhinav Gupta, Roozbeh Mottaghi, and Ali Farhadi · 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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Embodied question answering
Abhishek Das, Samyak Datta, Georgia Gkioxari, Stefan Lee, Devi Parikh, and Dhruv Batra · 2018
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Neural task graphs: Generalizing to unseen tasks from a single video demonstration
De-An Huang, Suraj Nair, Danfei Xu, Yuke Zhu, Animesh Garg, Li Fei-Fei, Silvio Savarese, and Juan Carlos Niebles · 2019
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ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks
Mohit Shridhar, Jesse Thomason, Daniel Gordon, Yonatan Bisk, Winson Han, Roozbeh Mottaghi, Luke Zettlemoyer, and Dieter Fox · 2020
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Pddlgym: Gym environments from pddl problems
Tom Silver and Rohan Chitnis · 2020
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Kimera: an open-source library for real-time metric-semantic localization and mapping
Antoni Rosinol, Marcus Abate, Yun Chang, and Luca Carlone · 2020
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Semantic and geometric modeling with neural message passing in 3d scene graphs for hierarchical mechanical search
Andrey Kurenkov, Roberto Martín-Martín, Jeff Ichnowski, Ken Goldberg, and Silvio Savarese · 2021
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igibson 2.0: Object-centric simulation for robot learning of everyday household tasks, 2021
Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, and Silvio Savarese · 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, Keerthana Gopalakrishnan, Karol Hausman, Alexander Herzog, Daniel Ho, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Eric Jang, Rosario Jauregui Ruano, Kyle Jeffrey, Sally Jesmonth, Nikhil Jayant Joshi, Ryan C. 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 M Reyes, Pierre 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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Language models as zero-shot planners: Extracting actionable knowledge for embodied agents
Wenlong Huang, P. Abbeel, Deepak Pathak, and Igor Mordatch · 2022
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Behavior: Benchmark for everyday household activities in virtual, interactive, and ecological environments
Sanjana Srivastava, Chengshu Li, Michael Lingelbach, Roberto Martín-Martín, Fei Xia, Kent Elliott Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, Karen Liu, et al · 2022
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Code as policies: Language model programs for embodied control
Jacky Liang, Wenlong Huang, F. Xia, Peng Xu, Karol Hausman, Brian Ichter, Peter R. Florence, and Andy Zeng · 2022
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Inner monologue: Embodied reasoning through planning with language models
Wenlong Huang, F. Xia, Ted Xiao, Harris Chan, Jacky Liang, Peter R. Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Noah Brown, Tomas Jackson, Linda Luu, Sergey Levine, Karol Hausman, and Brian Ichter · 2022
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Llm-planner: Few-shot grounded planning for embodied agents with large language models
Chan Hee Song, Jiaman Wu, Clay Washington, Brian M. Sadler, Wei-Lun Chao, and Yu Su · 2022
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Cape: Corrective actions from precondition errors using large language models
S. Sundar Raman, Vanya Cohen, Eric Rosen, Ifrah Idrees, David Paulius, and Stefanie Tellex · 2022
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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 · 2022
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Chain of thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Ed Huai hsin Chi, F. Xia, Quoc Le, and Denny Zhou · 2022
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Beyond the imitation game: Quantifying and extrapolating the capabilities of language models
Aarohi Srivastava, Abhinav Rastogi, Abhishek Rao, Abu Awal Md Shoeb, Abubakar Abid, Adam Fisch, Adam R Brown, Adam Santoro, Aditya Gupta, Adrià Garriga-Alonso, et al · 2022
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Egotaskqa: Understanding human tasks in egocentric videos
Baoxiong Jia, Ting Lei, Song-Chun Zhu, and Siyuan Huang · 2022
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Vima: General robot manipulation with multimodal prompts
Yunfan Jiang, Agrim Gupta, Zichen Zhang, Guanzhi Wang, Yongqiang Dou, Yanjun Chen, Li Fei-Fei, Anima Anandkumar, Yuke Zhu, and Linxi Fan · 2022
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Planbench: An extensible benchmark for evaluating large language models on planning and reasoning about change
Karthik Valmeekam, Alberto Olmo, Sarath Sreedharan, and Subbarao Kambhampati · 2022
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ACT-thor: A controlled benchmark for embodied action understanding in simulated environments
Michael Hanna, Federico Pedeni, Alessandro Suglia, Alberto Testoni, and Raffaella Bernardi · 2022
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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
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Llm+p: Empowering large language models with optimal planning proficiency
B. Liu, Yuqian Jiang, Xiaohan Zhang, Qian Liu, Shiqi Zhang, Joydeep Biswas, and Peter Stone · 2023
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Learning adaptive planning representations with natural language guidance
Li Siang Wong, Jiayuan Mao, Pratyusha Sharma, Zachary S. Siegel, Jiahai Feng, Noa Korneev, Joshua B Tenenbaum, and Jacob Andreas · 2023
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Demo2code: From summarizing demonstrations to synthesizing code via extended chain-of-thought
Huaxiaoyue Wang, Gonzalo Gonzalez-Pumariega, Yash Sharma, and Sanjiban Choudhury · 2023
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Interactive task planning with language models
Boyi Li, Philipp Wu, Pieter Abbeel, and Jitendra Malik · 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 D. Reid, and Niko Sünderhauf · 2023
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Localizing active objects from egocentric vision with symbolic world knowledge
Te-Lin Wu, Yu Zhou, and Nanyun Peng · 2023
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Voxposer: Composable 3d value maps for robotic manipulation with language models
Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu, and Li Fei-Fei · 2023
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Zihao Wang, Shaofei Cai, Anji Liu, Xiaojian Ma, and Yitao Liang · 2023
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Holistic evaluation of language models
Percy Liang, Rishi Bommasani, Tony Lee, Dimitris Tsipras, Dilara Soylu, Michihiro Yasunaga, Yian Zhang, Deepak Narayanan, Yuhuai Wu, Ananya Kumar, Benjamin Newman, Binhang Yuan, Bobby Yan, Ce Zhang, Christian Cosgrove, Christopher D. Manning, Christopher R’e, Diana Acosta-Navas, Drew A. Hudson, E. Zelikman, Esin Durmus, Faisal Ladhak, Frieda Rong, Hongyu Ren, Huaxiu Yao, Jue Wang, Keshav Santhanam, Laurel J. Orr, Lucia Zheng, Mert Yuksekgonul, Mirac Suzgun, Nathan S. Kim, Neel Guha, Niladri S. Chatterji, O. Khattab, Peter Henderson, Qian Huang, Ryan Chi, Sang Michael Xie, Shibani Santurkar, Surya Ganguli, Tatsunori Hashimoto, Thomas F. Icard, Tianyi Zhang, Vishrav Chaudhary, William Wang, Xuechen Li, Yifan Mai, Yuhui Zhang, and Yuta Koreeda · 2023
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Autotamp: Autoregressive task and motion planning with llms as translators and checkers
Yongchao Chen, Jacob Arkin, Yang Zhang, Nicholas A. Roy, and Chuchu Fan · 2023
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Grid: Scene-graph-based instruction-driven robotic task planning
Zhe Ni, Xiao-Xin Deng, Cong Tai, Xin-Yue Zhu, Xiang Wu, Y. Liu, and Long Zeng · 2023
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Saycanpay: Heuristic planning with large language models using learnable domain knowledge
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Copal: Corrective planning of robot actions with large language models
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Distilling and retrieving generalizable knowledge for robot manipulation via language corrections
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Grounded decoding: Guiding text generation with grounded models for embodied agents
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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Non-sequential graph script induction via multimedia grounding
Yu Zhou, Sha Li, Li Manling, Lin Xudong, Shih-Fu Chang, Mohit Bansal, and Heng Ji · 2023
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