Task and Motion Planning with Large Language Models for Object Rearrangement
Yan Ding,Xiaohan Zhang,Chris Paxton,Shiqi Zhang,Yan Ding,Xiaohan Zhang,Chris Paxton,Shiqi Zhang
Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to robots. Large language models (LLMs) are one potential source of this knowledge, but they do not naively capture information about plausible physical arrangements ...
