ProgPrompt: Generating Situated Robot Task Plans using Large Language Models. (arXiv:2209.11302v1 [cs.RO])

Task planning can require defining myriad domain knowledge about the world in
which a robot needs to act. To ameliorate that effort, large language models
(LLMs) can be used to score potential next actions during task planning, and
even generate action sequences directly, given an instruction in natural
language with no additional domain information. However, such methods either
require enumerating all possible next steps for scoring, or generate free-form
text that may contain actions not possible on a given robot …

arxiv language language models large language models robot