CoPAL: Corrective Planning of Robot Actions with Large Language Models

Frank Joublin,Antonello Ceravola,Pavel Smirnov,Felix Ocker,Joerg Deigmoeller,Anna Belardinelli,Chao Wang,Stephan Hasler,Daniel Tanneberg,Michael Gienger,Frank Joublin,Antonello Ceravola,Pavel Smirnov,Felix Ocker,Joerg Deigmoeller,Anna Belardinelli,Chao Wang,Stephan Hasler,Daniel Tanneberg,Michael Gienger

In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes to the field of Large Language Models (LLMs) applied to task and motion planning for robots. We propose a system architecture that orchestrates a seamless inter...