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cs.RO2026
SkillWrapper: Generative Predicate Invention for Task-level Robot Planning
Ziyi Yang, Benned Hedegaard, Ahmed Jaafar +8
Generalizing from individual skill executions to long-horizon tasks is a core challenge in building autonomous robots. A promising direction is learning high-level, symbolic repres…
cs.RO2025
Bootstrapping Object-level Planning with Large Language Models
David Paulius, Alejandro Agostini, Benedict Quartey +1
We introduce a new method that extracts knowledge from a large language model (LLM) to produce object-level plans, which describe high-level changes to object state, and uses them…
cs.RO2024
Skill Generalization with Verbs
Rachel Ma, Lyndon Lam, Benjamin A. Spiegel +6
It is imperative that robots can understand natural language commands issued by humans. Such commands typically contain verbs that signify what action should be performed on a give…