Daily Papers

As Large Language Models (LLMs) have shown significant intelligence, the progress to leverage LLMs as planning modules of autonomous agents has attracted more attention. This survey provides the first systematic view of LLM-based agents planning, covering recent works aiming to improve planning ability. We provide a taxonomy of existing works on LLM-Agent planning, which can be categorized into Task Decomposition, Plan Selection, External Module, Reflection and Memory. Comprehensive analyses are conducted for each direction, and further challenges for the field of research are discussed.

The recently proposed ALFRED challenge task aims for a virtual robotic agent to complete complex multi-step everyday tasks in a virtual home environment from high-level natural language directives, such as "put a hot piece of bread on a plate". Currently, the best-performing models are able to complete less than 5% of these tasks successfully. In this work we focus on modeling the translation problem of converting natural language directives into detailed multi-step sequences of actions that accomplish those goals in the virtual environment. We empirically demonstrate that it is possible to generate gold multi-step plans from language directives alone without any visual input in 26% of unseen cases. When a small amount of visual information is incorporated, namely the starting location in the virtual environment, our best-performing GPT-2 model successfully generates gold command sequences in 58% of cases. Our results suggest that contextualized language models may provide strong visual semantic planning modules for grounded virtual agents.

End-to-end autonomous driving aims to build a fully differentiable system that takes raw sensor data as inputs and directly outputs the planned trajectory or control signals of the ego vehicle. State-of-the-art methods usually follow the `Teacher-Student' paradigm. The Teacher model uses privileged information (ground-truth states of surrounding agents and map elements) to learn the driving strategy. The student model only has access to raw sensor data and conducts behavior cloning on the data collected by the teacher model. By eliminating the noise of the perception part during planning learning, state-of-the-art works could achieve better performance with significantly less data compared to those coupled ones. However, under the current Teacher-Student paradigm, the student model still needs to learn a planning head from scratch, which could be challenging due to the redundant and noisy nature of raw sensor inputs and the casual confusion issue of behavior cloning. In this work, we aim to explore the possibility of directly adopting the strong teacher model to conduct planning while letting the student model focus more on the perception part. We find that even equipped with a SOTA perception model, directly letting the student model learn the required inputs of the teacher model leads to poor driving performance, which comes from the large distribution gap between predicted privileged inputs and the ground-truth. To this end, we propose DriveAdapter, which employs adapters with the feature alignment objective function between the student (perception) and teacher (planning) modules. Additionally, since the pure learning-based teacher model itself is imperfect and occasionally breaks safety rules, we propose a method of action-guided feature learning with a mask for those imperfect teacher features to further inject the priors of hand-crafted rules into the learning process.

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great scalability. However, these methods typically rely on deterministic modeling of online maps in the perception module for guiding or constraining vehicle planning, which may incorporate erroneous perception information and further compromise planning safety. To address this issue, we delve into the importance of online map uncertainty for enhancing autonomous driving safety and propose a novel paradigm named UncAD. Specifically, UncAD first estimates the uncertainty of the online map in the perception module. It then leverages the uncertainty to guide motion prediction and planning modules to produce multi-modal trajectories. Finally, to achieve safer autonomous driving, UncAD proposes an uncertainty-collision-aware planning selection strategy according to the online map uncertainty to evaluate and select the best trajectory. In this study, we incorporate UncAD into various state-of-the-art (SOTA) end-to-end methods. Experiments on the nuScenes dataset show that integrating UncAD, with only a 1.9% increase in parameters, can reduce collision rates by up to 26% and drivable area conflict rate by up to 42%. Codes, pre-trained models, and demo videos can be accessed at https://github.com/pengxuanyang/UncAD.

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect obstacles regardless of their shape and occlusion. Modern occupancy networks mainly focus on reconstructing visible voxels from object surfaces with voxel-wise semantic prediction. Usually, they suffer from inconsistent predictions of one object and mixed predictions for adjacent objects. These confusions may harm the safety of downstream planning modules. To this end, we investigate panoptic segmentation on 3D voxel scenarios and propose an instance-aware occupancy network, PanoSSC. We predict foreground objects and backgrounds separately and merge both in post-processing. For foreground instance grouping, we propose a novel 3D instance mask decoder that can efficiently extract individual objects. we unify geometric reconstruction, 3D semantic segmentation, and 3D instance segmentation into PanoSSC framework and propose new metrics for evaluating panoptic voxels. Extensive experiments show that our method achieves competitive results on SemanticKITTI semantic scene completion benchmark.

This paper tackles the challenge of autonomous target search using unmanned aerial vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches for this task, we introduce Star-Searcher, an aerial system featuring specialized sensor suites, mapping, and planning modules to optimize searching. Path planning challenges due to increased inspection requirements are addressed through a hierarchical planner with a visibility-based viewpoint clustering method. This simplifies planning by breaking it into global and local sub-problems, ensuring efficient global and local path coverage in real-time. Furthermore, our global path planning employs a history-aware mechanism to reduce motion inconsistency from frequent map changes, significantly enhancing search efficiency. We conduct comparisons with state-of-the-art methods in both simulation and the real world, demonstrating shorter flight paths, reduced time, and higher target search completeness. Our approach will be open-sourced for community benefit at https://github.com/SYSU-STAR/STAR-Searcher.

Benefiting from the powerful capabilities of large language models (LLMs), agents based on LLMs have shown the potential to address domain-specific tasks and emulate human behaviors. However, the content generated by these agents remains somewhat superficial, owing to their limited domain expertise and the absence of an effective cognitive architecture. To address this, we present the Configurable General Multi-Agent Interaction (CGMI) framework, designed to replicate human interactions in real-world scenarios. Specifically, we propose a tree-structured methodology for the assignment, detection, and maintenance of agent personality. Additionally, we designed a cognitive architecture equipped with a skill library based on the ACT* model, which contains memory, reflection, and planning modules. We have also integrated general agents to augment the virtual environment's realism. Using the CGMI framework, we simulated numerous classroom interactions between teacher and students. The experiments indicate that aspects such as the teaching methodology, curriculum, and student performance closely mirror real classroom settings. We will open source our work.

We present a single neural network architecture composed of task-agnostic components (ViTs, convolutions, and LSTMs) that achieves state-of-art results on both the ImageNav ("go to location in <this picture>") and ObjectNav ("find a chair") tasks without any task-specific modules like object detection, segmentation, mapping, or planning modules. Such general-purpose methods offer advantages of simplicity in design, positive scaling with available compute, and versatile applicability to multiple tasks. Our work builds upon the recent success of self-supervised learning (SSL) for pre-training vision transformers (ViT). However, while the training recipes for convolutional networks are mature and robust, the recipes for ViTs are contingent and brittle, and in the case of ViTs for visual navigation, yet to be fully discovered. Specifically, we find that vanilla ViTs do not outperform ResNets on visual navigation. We propose the use of a compression layer operating over ViT patch representations to preserve spatial information along with policy training improvements. These improvements allow us to demonstrate positive scaling laws for the first time in visual navigation tasks. Consequently, our model advances state-of-the-art performance on ImageNav from 54.2% to 82.0% success and performs competitively against concurrent state-of-art on ObjectNav with success rate of 64.0% vs. 65.0%. Overall, this work does not present a fundamentally new approach, but rather recommendations for training a general-purpose architecture that achieves state-of-art performance today and could serve as a strong baseline for future methods.

We introduce Lumos, a novel framework for training language agents that employs a unified data format and a modular architecture based on open-source large language models (LLMs). Lumos consists of three distinct modules: planning, grounding, and execution. The planning module breaks down a task into a series of high-level, tool-agnostic subgoals, which are then made specific by the grounding module through a set of low-level actions. These actions are subsequently executed by the execution module, utilizing a range of off-the-shelf tools and APIs. In order to train these modules effectively, high-quality annotations of subgoals and actions were collected and are made available for fine-tuning open-source LLMs for various tasks such as complex question answering, web tasks, and math problems. Leveraging this unified data and modular design, Lumos not only achieves comparable or superior performance to current, state-of-the-art agents, but also exhibits several key advantages: (1) Lumos surpasses GPT-4/3.5-based agents in complex question answering and web tasks, while equalling the performance of significantly larger LLM agents on math tasks; (2) Lumos outperforms open-source agents created through conventional training methods and those using chain-of-thoughts training; and (3) Lumos is capable of effectively generalizing to unseen interactive tasks, outperforming larger LLM-based agents and even exceeding performance of specialized agents.

The integration of tools in LLM-based agents overcame the difficulties of standalone LLMs and traditional agents' limited capabilities. However, the conjunction of these technologies and the proposed enhancements in several state-of-the-art works followed a non-unified software architecture resulting in a lack of modularity. Indeed, they focused mainly on functionalities and overlooked the definition of the component's boundaries within the agent. This caused terminological and architectural ambiguities between researchers which we addressed in this paper by proposing a unified framework that establishes a clear foundation for LLM-based agents' development from both functional and software architectural perspectives. Our framework, LLM-Agent-UMF (LLM-based Agent Unified Modeling Framework), clearly distinguishes between the different components of an agent, setting LLMs, and tools apart from a newly introduced element: the core-agent, playing the role of the central coordinator of the agent which comprises five modules: planning, memory, profile, action, and security, the latter often neglected in previous works. Differences in the internal structure of core-agents led us to classify them into a taxonomy of passive and active types. Based on this, we proposed different multi-core agent architectures combining unique characteristics of various individual agents. For evaluation purposes, we applied this framework to a selection of state-of-the-art agents, thereby demonstrating its alignment with their functionalities and clarifying the overlooked architectural aspects. Moreover, we thoroughly assessed four of our proposed architectures by integrating distinctive agents into hybrid active/passive core-agents' systems. This analysis provided clear insights into potential improvements and highlighted the challenges involved in the combination of specific agents.

We present a terrain traversability mapping and navigation system (TNS) for autonomous excavator applications in an unstructured environment. We use an efficient approach to extract terrain features from RGB images and 3D point clouds and incorporate them into a global map for planning and navigation. Our system can adapt to changing environments and update the terrain information in real-time. Moreover, we present a novel dataset, the Complex Worksite Terrain (CWT) dataset, which consists of RGB images from construction sites with seven categories based on navigability. Our novel algorithms improve the mapping accuracy over previous SOTA methods by 4.17-30.48% and reduce MSE on the traversability map by 13.8-71.4%. We have combined our mapping approach with planning and control modules in an autonomous excavator navigation system and observe 49.3% improvement in the overall success rate. Based on TNS, we demonstrate the first autonomous excavator that can navigate through unstructured environments consisting of deep pits, steep hills, rock piles, and other complex terrain features.

Large language models (LLMs) demonstrate impressive performance on a wide variety of tasks, but they often struggle with tasks that require multi-step reasoning or goal-directed planning. To address this, we take inspiration from the human brain, in which planning is accomplished via the recurrent interaction of specialized modules in the prefrontal cortex (PFC). These modules perform functions such as conflict monitoring, state prediction, state evaluation, task decomposition, and task coordination. We find that LLMs are sometimes capable of carrying out these functions in isolation, but struggle to autonomously coordinate them in the service of a goal. Therefore, we propose a black box architecture with multiple LLM-based (GPT-4) modules. The architecture improves planning through the interaction of specialized PFC-inspired modules that break down a larger problem into multiple brief automated calls to the LLM. We evaluate the combined architecture on two challenging planning tasks -- graph traversal and Tower of Hanoi -- finding that it yields significant improvements over standard LLM methods (e.g., zero-shot prompting or in-context learning). These results demonstrate the benefit of utilizing knowledge from cognitive neuroscience to improve planning in LLMs.

We present APT, an advanced Large Language Model (LLM)-driven framework that enables autonomous agents to construct complex and creative structures within the Minecraft environment. Unlike previous approaches that primarily concentrate on skill-based open-world tasks or rely on image-based diffusion models for generating voxel-based structures, our method leverages the intrinsic spatial reasoning capabilities of LLMs. By employing chain-of-thought decomposition along with multimodal inputs, the framework generates detailed architectural layouts and blueprints that the agent can execute under zero-shot or few-shot learning scenarios. Our agent incorporates both memory and reflection modules to facilitate lifelong learning, adaptive refinement, and error correction throughout the building process. To rigorously evaluate the agent's performance in this emerging research area, we introduce a comprehensive benchmark consisting of diverse construction tasks designed to test creativity, spatial reasoning, adherence to in-game rules, and the effective integration of multimodal instructions. Experimental results using various GPT-based LLM backends and agent configurations demonstrate the agent's capacity to accurately interpret extensive instructions involving numerous items, their positions, and orientations. The agent successfully produces complex structures complete with internal functionalities such as Redstone-powered systems. A/B testing indicates that the inclusion of a memory module leads to a significant increase in performance, emphasizing its role in enabling continuous learning and the reuse of accumulated experience. Additionally, the agent's unexpected emergence of scaffolding behavior highlights the potential of future LLM-driven agents to utilize subroutine planning and leverage the emergence ability of LLMs to autonomously develop human-like problem-solving techniques.

As global tourism expands and artificial intelligence technology advances, intelligent travel planning services have emerged as a significant research focus. Within dynamic real-world travel scenarios with multi-dimensional constraints, services that support users in automatically creating practical and customized travel itineraries must address three key objectives: Rationality, Comprehensiveness, and Personalization. However, existing systems with rule-based combinations or LLM-based planning methods struggle to fully satisfy these criteria. To overcome the challenges, we introduce TravelAgent, a travel planning system powered by large language models (LLMs) designed to provide reasonable, comprehensive, and personalized travel itineraries grounded in dynamic scenarios. TravelAgent comprises four modules: Tool-usage, Recommendation, Planning, and Memory Module. We evaluate TravelAgent's performance with human and simulated users, demonstrating its overall effectiveness in three criteria and confirming the accuracy of personalized recommendations.

Evaluating the performance of perception modules in autonomous driving is one of the most critical tasks in developing the complex intelligent system. While module-level unit test metrics adopted from traditional computer vision tasks are feasible to some extent, it remains far less explored to measure the impact of perceptual noise on the driving quality of autonomous vehicles in a consistent and holistic manner. In this work, we propose a principled framework that provides a coherent and systematic understanding of the impact an error in the perception module imposes on an autonomous agent's planning that actually controls the vehicle. Specifically, the planning process is formulated as expected utility maximisation, where all input signals from upstream modules jointly provide a world state description, and the planner strives for the optimal action by maximising the expected utility determined by both world states and actions. We show that, under practical conditions, the objective function can be represented as an inner product between the world state description and the utility function in a Hilbert space. This geometric interpretation enables a novel way to analyse the impact of noise in world state estimation on planning and leads to a universal metric for evaluating perception. The whole framework resembles the idea of transcendental idealism in the classical philosophical literature, which gives the name to our approach.

Generating knowledge-intensive and comprehensive long texts, such as encyclopedia articles, remains significant challenges for Large Language Models. It requires not only the precise integration of facts but also the maintenance of thematic coherence throughout the article. Existing methods, such as direct generation and multi-agent discussion, often struggle with issues like hallucinations, topic incoherence, and significant latency. To address these challenges, we propose RAPID, an efficient retrieval-augmented long text generation framework. RAPID consists of three main modules: (1) Retrieval-augmented preliminary outline generation to reduce hallucinations, (2) Attribute-constrained search for efficient information discovery, (3) Plan-guided article generation for enhanced coherence. Extensive experiments on our newly compiled benchmark dataset, FreshWiki-2024, demonstrate that RAPID significantly outperforms state-of-the-art methods across a wide range of evaluation metrics (e.g. long-text generation, outline quality, latency, etc). Our work provides a robust and efficient solution to the challenges of automated long-text generation.

Outcome-driven reinforcement learning has advanced reasoning in large language models (LLMs), but prevailing tool-augmented approaches train a single, monolithic policy that interleaves thoughts and tool calls under full context; this scales poorly with long horizons and diverse tools and generalizes weakly to new scenarios. Agentic systems offer a promising alternative by decomposing work across specialized modules, yet most remain training-free or rely on offline training decoupled from the live dynamics of multi-turn interaction. We introduce AgentFlow, a trainable, in-the-flow agentic framework that coordinates four modules (planner, executor, verifier, generator) through an evolving memory and directly optimizes its planner inside the multi-turn loop. To train on-policy in live environments, we propose Flow-based Group Refined Policy Optimization (Flow-GRPO), which tackles long-horizon, sparse-reward credit assignment by converting multi-turn optimization into a sequence of tractable single-turn policy updates. It broadcasts a single, verifiable trajectory-level outcome to every turn to align local planner decisions with global success and stabilizes learning with group-normalized advantages. Across ten benchmarks, AgentFlow with a 7B-scale backbone outperforms top-performing baselines with average accuracy gains of 14.9% on search, 14.0% on agentic, 14.5% on mathematical, and 4.1% on scientific tasks, even surpassing larger proprietary models like GPT-4o. Further analyses confirm the benefits of in-the-flow optimization, showing improved planning, enhanced tool-calling reliability, and positive scaling with model size and reasoning turns.

Agents based on large language models (LLMs) have demonstrated effectiveness in solving a wide range of tasks by integrating LLMs with key modules such as planning, memory, and tool usage. Increasingly, customers are adopting LLM agents across a variety of commercial applications critical to reliability, including support for mental well-being, chemical synthesis, and software development. Nevertheless, our observations and daily use of LLM agents indicate that they are prone to making erroneous plans, especially when the tasks are complex and require long-term planning. In this paper, we propose PDoctor, a novel and automated approach to testing LLM agents and understanding their erroneous planning. As the first work in this direction, we formulate the detection of erroneous planning as a constraint satisfiability problem: an LLM agent's plan is considered erroneous if its execution violates the constraints derived from the user inputs. To this end, PDoctor first defines a domain-specific language (DSL) for user queries and synthesizes varying inputs with the assistance of the Z3 constraint solver. These synthesized inputs are natural language paragraphs that specify the requirements for completing a series of tasks. Then, PDoctor derives constraints from these requirements to form a testing oracle. We evaluate PDoctor with three mainstream agent frameworks and two powerful LLMs (GPT-3.5 and GPT-4). The results show that PDoctor can effectively detect diverse errors in agent planning and provide insights and error characteristics that are valuable to both agent developers and users. We conclude by discussing potential alternative designs and directions to extend PDoctor.

Compositional visual reasoning methods, which translate a complex query into a structured composition of feasible visual tasks, have exhibited a strong potential in complicated multi-modal tasks. Empowered by recent advances in large language models (LLMs), this multi-modal challenge has been brought to a new stage by treating LLMs as few-shot/zero-shot planners, i.e., vision-language (VL) programming. Such methods, despite their numerous merits, suffer from challenges due to LLM planning mistakes or inaccuracy of visual execution modules, lagging behind the non-compositional models. In this work, we devise a "plug-and-play" method, ExoViP, to correct errors in both the planning and execution stages through introspective verification. We employ verification modules as "exoskeletons" to enhance current VL programming schemes. Specifically, our proposed verification module utilizes a mixture of three sub-verifiers to validate predictions after each reasoning step, subsequently calibrating the visual module predictions and refining the reasoning trace planned by LLMs. Experimental results on two representative VL programming methods showcase consistent improvements on five compositional reasoning tasks on standard benchmarks. In light of this, we believe that ExoViP can foster better performance and generalization on open-domain multi-modal challenges.

Despite their remarkable success in complex tasks propelling widespread adoption, large language-model-based agents still face critical deployment challenges due to prohibitive latency and inference costs. While recent work has explored various methods to accelerate inference, existing approaches suffer from significant limitations: they either fail to preserve performance fidelity, require extensive offline training of router modules, or incur excessive operational costs. Moreover, they provide minimal user control over the tradeoff between acceleration and other performance metrics. To address these gaps, we introduce Dynamic Speculative Planning (DSP), an asynchronous online reinforcement learning framework that provides lossless acceleration with substantially reduced costs without requiring additional pre-deployment preparation. DSP explicitly optimizes a joint objective balancing end-to-end latency against dollar cost, allowing practitioners to adjust a single parameter that steers the system toward faster responses, cheaper operation, or any point along this continuum. Experiments on two standard agent benchmarks demonstrate that DSP achieves comparable efficiency to the fastest lossless acceleration method while reducing total cost by 30% and unnecessary cost up to 60%. Our code and data are available through https://github.com/guanyilin428/Dynamic-Speculative-Planning.

Sketch animation, which brings static sketches to life by generating dynamic video sequences, has found widespread applications in GIF design, cartoon production, and daily entertainment. While current methods for sketch animation perform well in single-object sketch animation, they struggle in multi-object scenarios. By analyzing their failures, we identify two major challenges of transitioning from single-object to multi-object sketch animation: object-aware motion modeling and complex motion optimization. For multi-object sketch animation, we propose MoSketch based on iterative optimization through Score Distillation Sampling (SDS) and thus animating a multi-object sketch in a training-data free manner. To tackle the two challenges in a divide-and-conquer strategy, MoSketch has four novel modules, i.e., LLM-based scene decomposition, LLM-based motion planning, multi-grained motion refinement, and compositional SDS. Extensive qualitative and quantitative experiments demonstrate the superiority of our method over existing sketch animation approaches. MoSketch takes a pioneering step towards multi-object sketch animation, opening new avenues for future research and applications.

We introduce SceneDiffuser, a conditional generative model for 3D scene understanding. SceneDiffuser provides a unified model for solving scene-conditioned generation, optimization, and planning. In contrast to prior works, SceneDiffuser is intrinsically scene-aware, physics-based, and goal-oriented. With an iterative sampling strategy, SceneDiffuser jointly formulates the scene-aware generation, physics-based optimization, and goal-oriented planning via a diffusion-based denoising process in a fully differentiable fashion. Such a design alleviates the discrepancies among different modules and the posterior collapse of previous scene-conditioned generative models. We evaluate SceneDiffuser with various 3D scene understanding tasks, including human pose and motion generation, dexterous grasp generation, path planning for 3D navigation, and motion planning for robot arms. The results show significant improvements compared with previous models, demonstrating the tremendous potential of SceneDiffuser for the broad community of 3D scene understanding.

Although recent text-to-video (T2V) generation methods have seen significant advancements, most of these works focus on producing short video clips of a single event with a single background (i.e., single-scene videos). Meanwhile, recent large language models (LLMs) have demonstrated their capability in generating layouts and programs to control downstream visual modules such as image generation models. This raises an important question: can we leverage the knowledge embedded in these LLMs for temporally consistent long video generation? In this paper, we propose VideoDirectorGPT, a novel framework for consistent multi-scene video generation that uses the knowledge of LLMs for video content planning and grounded video generation. Specifically, given a single text prompt, we first ask our video planner LLM (GPT-4) to expand it into a 'video plan', which involves generating the scene descriptions, the entities with their respective layouts, the background for each scene, and consistency groupings of the entities and backgrounds. Next, guided by this output from the video planner, our video generator, Layout2Vid, has explicit control over spatial layouts and can maintain temporal consistency of entities/backgrounds across scenes, while only trained with image-level annotations. Our experiments demonstrate that VideoDirectorGPT framework substantially improves layout and movement control in both single- and multi-scene video generation and can generate multi-scene videos with visual consistency across scenes, while achieving competitive performance with SOTAs in open-domain single-scene T2V generation. We also demonstrate that our framework can dynamically control the strength for layout guidance and can also generate videos with user-provided images. We hope our framework can inspire future work on better integrating the planning ability of LLMs into consistent long video generation.

With the rapid advancement of generative models, general-purpose generation has gained increasing attention as a promising approach to unify diverse tasks across modalities within a single system. Despite this progress, existing open-source frameworks often remain fragile and struggle to support complex real-world applications due to the lack of structured workflow planning and execution-level feedback. To address these limitations, we present ComfyMind, a collaborative AI system designed to enable robust and scalable general-purpose generation, built on the ComfyUI platform. ComfyMind introduces two core innovations: Semantic Workflow Interface (SWI) that abstracts low-level node graphs into callable functional modules described in natural language, enabling high-level composition and reducing structural errors; Search Tree Planning mechanism with localized feedback execution, which models generation as a hierarchical decision process and allows adaptive correction at each stage. Together, these components improve the stability and flexibility of complex generative workflows. We evaluate ComfyMind on three public benchmarks: ComfyBench, GenEval, and Reason-Edit, which span generation, editing, and reasoning tasks. Results show that ComfyMind consistently outperforms existing open-source baselines and achieves performance comparable to GPT-Image-1. ComfyMind paves a promising path for the development of open-source general-purpose generative AI systems. Project page: https://github.com/LitaoGuo/ComfyMind

Real-world long-horizon embodied planning underpins embodied AI. To accomplish long-horizon tasks, agents need to decompose abstract instructions into detailed steps. Prior works mostly rely on GPT-4V for task decomposition into predefined actions, which limits task diversity due to GPT-4V's finite understanding of larger skillsets. Therefore, we present ReLEP, a groundbreaking framework for Real world Long-horizon Embodied Planning, which can accomplish a wide range of daily tasks. At its core lies a fine-tuned large vision language model that formulates plans as sequences of skill functions according to input instruction and scene image. These functions are selected from a carefully designed skill library. ReLEP is also equipped with a Memory module for plan and status recall, and a Robot Configuration module for versatility across robot types. In addition, we propose a semi-automatic data generation pipeline to tackle dataset scarcity. Real-world off-line experiments across eight daily embodied tasks demonstrate that ReLEP is able to accomplish long-horizon embodied tasks and outperforms other state-of-the-art baseline methods.

While large language models (LLMs) have integrated images, adapting them to graphs remains challenging, limiting their applications in materials and drug design. This difficulty stems from the need for coherent autoregressive generation across texts and graphs. To address this, we introduce Llamole, the first multimodal LLM capable of interleaved text and graph generation, enabling molecular inverse design with retrosynthetic planning. Llamole integrates a base LLM with the Graph Diffusion Transformer and Graph Neural Networks for multi-conditional molecular generation and reaction inference within texts, while the LLM, with enhanced molecular understanding, flexibly controls activation among the different graph modules. Additionally, Llamole integrates A* search with LLM-based cost functions for efficient retrosynthetic planning. We create benchmarking datasets and conduct extensive experiments to evaluate Llamole against in-context learning and supervised fine-tuning. Llamole significantly outperforms 14 adapted LLMs across 12 metrics for controllable molecular design and retrosynthetic planning.

Vehicle motion planning is an essential component of autonomous driving technology. Current rule-based vehicle motion planning methods perform satisfactorily in common scenarios but struggle to generalize to long-tailed situations. Meanwhile, learning-based methods have yet to achieve superior performance over rule-based approaches in large-scale closed-loop scenarios. To address these issues, we propose PlanAgent, the first mid-to-mid planning system based on a Multi-modal Large Language Model (MLLM). MLLM is used as a cognitive agent to introduce human-like knowledge, interpretability, and common-sense reasoning into the closed-loop planning. Specifically, PlanAgent leverages the power of MLLM through three core modules. First, an Environment Transformation module constructs a Bird's Eye View (BEV) map and a lane-graph-based textual description from the environment as inputs. Second, a Reasoning Engine module introduces a hierarchical chain-of-thought from scene understanding to lateral and longitudinal motion instructions, culminating in planner code generation. Last, a Reflection module is integrated to simulate and evaluate the generated planner for reducing MLLM's uncertainty. PlanAgent is endowed with the common-sense reasoning and generalization capability of MLLM, which empowers it to effectively tackle both common and complex long-tailed scenarios. Our proposed PlanAgent is evaluated on the large-scale and challenging nuPlan benchmarks. A comprehensive set of experiments convincingly demonstrates that PlanAgent outperforms the existing state-of-the-art in the closed-loop motion planning task. Codes will be soon released.

Text-to-image (T2I) generation has seen significant growth over the past few years. Despite this, there has been little work on generating diagrams with T2I models. A diagram is a symbolic/schematic representation that explains information using structurally rich and spatially complex visualizations (e.g., a dense combination of related objects, text labels, directional arrows, connection lines, etc.). Existing state-of-the-art T2I models often fail at diagram generation because they lack fine-grained object layout control when many objects are densely connected via complex relations such as arrows/lines and also often fail to render comprehensible text labels. To address this gap, we present DiagrammerGPT, a novel two-stage text-to-diagram generation framework that leverages the layout guidance capabilities of LLMs (e.g., GPT-4) to generate more accurate open-domain, open-platform diagrams. In the first stage, we use LLMs to generate and iteratively refine 'diagram plans' (in a planner-auditor feedback loop) which describe all the entities (objects and text labels), their relationships (arrows or lines), and their bounding box layouts. In the second stage, we use a diagram generator, DiagramGLIGEN, and a text label rendering module to generate diagrams following the diagram plans. To benchmark the text-to-diagram generation task, we introduce AI2D-Caption, a densely annotated diagram dataset built on top of the AI2D dataset. We show quantitatively and qualitatively that our DiagrammerGPT framework produces more accurate diagrams, outperforming existing T2I models. We also provide comprehensive analysis including open-domain diagram generation, vector graphic diagram generation in different platforms, human-in-the-loop diagram plan editing, and multimodal planner/auditor LLMs (e.g., GPT-4Vision). We hope our work can inspire further research on diagram generation via T2I models and LLMs.

This paper investigates robot manipulation based on human instruction with ambiguous requests. The intent is to compensate for imperfect natural language via visual observations. Early symbolic methods, based on manually defined symbols, built modular framework consist of semantic parsing and task planning for producing sequences of actions from natural language requests. Modern connectionist methods employ deep neural networks to automatically learn visual and linguistic features and map to a sequence of low-level actions, in an endto-end fashion. These two approaches are blended to create a hybrid, modular framework: it formulates instruction following as symbolic goal learning via deep neural networks followed by task planning via symbolic planners. Connectionist and symbolic modules are bridged with Planning Domain Definition Language. The vision-and-language learning network predicts its goal representation, which is sent to a planner for producing a task-completing action sequence. For improving the flexibility of natural language, we further incorporate implicit human intents with explicit human instructions. To learn generic features for vision and language, we propose to separately pretrain vision and language encoders on scene graph parsing and semantic textual similarity tasks. Benchmarking evaluates the impacts of different components of, or options for, the vision-and-language learning model and shows the effectiveness of pretraining strategies. Manipulation experiments conducted in the simulator AI2THOR show the robustness of the framework to novel scenarios.

Like humans, Large Language Models (LLMs) struggle to generate high-quality long-form text that adheres to strict requirements in a single pass. This challenge is unsurprising, as successful human writing, according to the Cognitive Writing Theory, is a complex cognitive process involving iterative planning, translating, reviewing, and monitoring. Motivated by these cognitive principles, we aim to equip LLMs with human-like cognitive writing capabilities through CogWriter, a novel training-free framework that transforms LLM constrained long-form text generation into a systematic cognitive writing paradigm. Our framework consists of two key modules: (1) a Planning Agent that performs hierarchical planning to decompose the task, and (2) multiple Generation Agents that execute these plans in parallel. The system maintains quality via continuous monitoring and reviewing mechanisms, which evaluate outputs against specified requirements and trigger necessary revisions. CogWriter demonstrates exceptional performance on LongGenBench, a benchmark for complex constrained long-form text generation. Even when using Qwen-2.5-14B as its backbone, CogWriter surpasses GPT-4o by 22% in complex instruction completion accuracy while reliably generating texts exceeding 10,000 words. We hope this cognitive science-inspired approach provides a paradigm for LLM writing advancements: https://github.com/KaiyangWan/CogWriter{CogWriter}.

Robotics has made remarkable hardware strides-from DARPA's Urban and Robotics Challenges to the first humanoid-robot kickboxing tournament-yet commercial autonomy still lags behind progress in machine learning. A major bottleneck is software: current robot stacks demand steep learning curves, low-level C/C++ expertise, fragmented tooling, and intricate hardware integration, in stark contrast to the Python-centric, well-documented ecosystems that propelled modern AI. We introduce ARK, an open-source, Python-first robotics framework designed to close that gap. ARK presents a Gym-style environment interface that allows users to collect data, preprocess it, and train policies using state-of-the-art imitation-learning algorithms (e.g., ACT, Diffusion Policy) while seamlessly toggling between high-fidelity simulation and physical robots. A lightweight client-server architecture provides networked publisher-subscriber communication, and optional C/C++ bindings ensure real-time performance when needed. ARK ships with reusable modules for control, SLAM, motion planning, system identification, and visualization, along with native ROS interoperability. Comprehensive documentation and case studies-from manipulation to mobile navigation-demonstrate rapid prototyping, effortless hardware swapping, and end-to-end pipelines that rival the convenience of mainstream machine-learning workflows. By unifying robotics and AI practices under a common Python umbrella, ARK lowers entry barriers and accelerates research and commercial deployment of autonomous robots.

The detailed clinical records drafted by doctors after each patient's visit are crucial for medical practitioners and researchers. Automating the creation of these notes with language models can reduce the workload of doctors. However, training such models can be difficult due to the limited public availability of conversations between patients and doctors. In this paper, we introduce NoteChat, a cooperative multi-agent framework leveraging Large Language Models (LLMs) for generating synthetic doctor-patient conversations conditioned on clinical notes. NoteChat consists of Planning, Roleplay, and Polish modules. We provide a comprehensive automatic and human evaluation of NoteChat, comparing it with state-of-the-art models, including OpenAI's ChatGPT and GPT-4. Results demonstrate that NoteChat facilitates high-quality synthetic doctor-patient conversations, underscoring the untapped potential of LLMs in healthcare. This work represents the first instance of multiple LLMs cooperating to complete a doctor-patient conversation conditioned on clinical notes, offering promising avenues for the intersection of AI and healthcare

The Indy Autonomous Challenge (IAC) brought together for the first time in history nine autonomous racing teams competing at unprecedented speed and in head-to-head scenario, using independently developed software on open-wheel racecars. This paper presents the complete software architecture used by team TII EuroRacing (TII-ER), covering all the modules needed to avoid static obstacles, perform active overtakes and reach speeds above 75 m/s (270 km/h). In addition to the most common modules related to perception, planning, and control, we discuss the approaches used for vehicle dynamics modelling, simulation, telemetry, and safety. Overall results and the performance of each module are described, as well as the lessons learned during the first two events of the competition on oval tracks, where the team placed respectively second and third.

Autonomous driving demands an integrated approach that encompasses perception, prediction, and planning, all while operating under strict energy constraints to enhance scalability and environmental sustainability. We present Spiking Autonomous Driving (SAD), the first unified Spiking Neural Network (SNN) to address the energy challenges faced by autonomous driving systems through its event-driven and energy-efficient nature. SAD is trained end-to-end and consists of three main modules: perception, which processes inputs from multi-view cameras to construct a spatiotemporal bird's eye view; prediction, which utilizes a novel dual-pathway with spiking neurons to forecast future states; and planning, which generates safe trajectories considering predicted occupancy, traffic rules, and ride comfort. Evaluated on the nuScenes dataset, SAD achieves competitive performance in perception, prediction, and planning tasks, while drawing upon the energy efficiency of SNNs. This work highlights the potential of neuromorphic computing to be applied to energy-efficient autonomous driving, a critical step toward sustainable and safety-critical automotive technology. Our code is available at https://github.com/ridgerchu/SAD.

The paper explores the transformation of port logistics operations with artificial intelligence during the port transformation into a smart port. The research integrates capabilities-based resource analysis and dynamic capabilities with sociotechnicalimplementations of technologies and resilience approaches of complex systems under disruptions. The system applies robustdata infrastructures to propel analytical and AI modules that become effective once integrated with sufficient governance systems and trained personnel and operational processes to transform planning and safety and sustainability operations.It applies Scopus bibliometric research to analyze 123 articles using a systematic approach with both a search protocol and a document screening and duplication verification. It incorporates annual behavior and distribution of author and country performance analysis with science mapping techniques that explore keyword relation and co-citation and bibliographic coupling and conceptual structuring tools that construct thematic maps and multiple correspondence analysis with community detection while applying explicit thresholding and robust tests.The research connects AI applications to smart port domains through specific data-to-impact pathways while providing a method for bibliometric analysis that enables future updates. The research presents a step-by-step approach for data readiness followed by predictive and optimization implementation and organizational integration. The paper supports public policy through recommendations for data sharing standards and complete environmental benefit assessments. The research proposes a future study plan whichcombines field-based testing with multiple port assessments to enhance both cause-effect understanding and research applicability.

Object detection and multiple object tracking (MOT) are essential components of self-driving systems. Accurate detection and uncertainty quantification are both critical for onboard modules, such as perception, prediction, and planning, to improve the safety and robustness of autonomous vehicles. Collaborative object detection (COD) has been proposed to improve detection accuracy and reduce uncertainty by leveraging the viewpoints of multiple agents. However, little attention has been paid to how to leverage the uncertainty quantification from COD to enhance MOT performance. In this paper, as the first attempt to address this challenge, we design an uncertainty propagation framework called MOT-CUP. Our framework first quantifies the uncertainty of COD through direct modeling and conformal prediction, and propagates this uncertainty information into the motion prediction and association steps. MOT-CUP is designed to work with different collaborative object detectors and baseline MOT algorithms. We evaluate MOT-CUP on V2X-Sim, a comprehensive collaborative perception dataset, and demonstrate a 2% improvement in accuracy and a 2.67X reduction in uncertainty compared to the baselines, e.g. SORT and ByteTrack. In scenarios characterized by high occlusion levels, our MOT-CUP demonstrates a noteworthy 4.01% improvement in accuracy. MOT-CUP demonstrates the importance of uncertainty quantification in both COD and MOT, and provides the first attempt to improve the accuracy and reduce the uncertainty in MOT based on COD through uncertainty propagation. Our code is public on https://coperception.github.io/MOT-CUP/.

Programming robot behavior in a complex world faces challenges on multiple levels, from dextrous low-level skills to high-level planning and reasoning. Recent pre-trained Large Language Models (LLMs) have shown remarkable reasoning ability in few-shot robotic planning. However, it remains challenging to ground LLMs in multimodal sensory input and continuous action output, while enabling a robot to interact with its environment and acquire novel information as its policies unfold. We develop a robot interaction scenario with a partially observable state, which necessitates a robot to decide on a range of epistemic actions in order to sample sensory information among multiple modalities, before being able to execute the task correctly. An interactive perception framework is therefore proposed with an LLM as its backbone, whose ability is exploited to instruct epistemic actions and to reason over the resulting multimodal sensations (vision, sound, haptics, proprioception), as well as to plan an entire task execution based on the interactively acquired information. Our study demonstrates that LLMs can provide high-level planning and reasoning skills and control interactive robot behavior in a multimodal environment, while multimodal modules with the context of the environmental state help ground the LLMs and extend their processing ability. The project website can be found at https://matcha-model.github.io{blue{https://matcha-model.github.io/}}.

Active vision, also known as active perception, refers to the process of actively selecting where and how to look in order to gather task-relevant information. It is a critical component of efficient perception and decision-making in humans and advanced embodied agents. Recently, the use of Multimodal Large Language Models (MLLMs) as central planning and decision-making modules in robotic systems has gained extensive attention. However, despite the importance of active perception in embodied intelligence, there is little to no exploration of how MLLMs can be equipped with or learn active perception capabilities. In this paper, we first provide a systematic definition of MLLM-based active perception tasks. We point out that the recently proposed GPT-o3 model's zoom-in search strategy can be regarded as a special case of active perception; however, it still suffers from low search efficiency and inaccurate region selection. To address these issues, we propose ACTIVE-O3, a purely reinforcement learning based training framework built on top of GRPO, designed to equip MLLMs with active perception capabilities. We further establish a comprehensive benchmark suite to evaluate ACTIVE-O3 across both general open-world tasks, such as small-object and dense object grounding, and domain-specific scenarios, including small object detection in remote sensing and autonomous driving, as well as fine-grained interactive segmentation. In addition, ACTIVE-O3 also demonstrates strong zero-shot reasoning abilities on the V* Benchmark, without relying on any explicit reasoning data. We hope that our work can provide a simple codebase and evaluation protocol to facilitate future research on active perception in MLLMs.

Large Language Model (LLM) agents, which integrate planning, memory, reflection, and tool-use modules, have shown promise in solving complex, multi-step tasks. Yet their sophisticated architectures amplify vulnerability to cascading failures, where a single root-cause error propagates through subsequent decisions, leading to task failure. Current systems lack a framework that can comprehensively understand agent error in a modular and systemic way, and therefore fail to detect these errors accordingly. We address this gap with three contributions. First, we introduce the AgentErrorTaxonomy, a modular classification of failure modes spanning memory, reflection, planning, action, and system-level operations. Second, we construct AgentErrorBench, the first dataset of systematically annotated failure trajectories from ALFWorld, GAIA, and WebShop, grounding error analysis in real-world agent rollouts. Third, we propose AgentDebug, a debugging framework that isolates root-cause failures and provides corrective feedback, enabling agents to recover and iteratively improve. Experiments on AgentErrorBench show that AgentDebug achieves 24% higher all-correct accuracy and 17% higher step accuracy compared to the strongest baseline. Beyond detection, the targeted feedback generated by AgentDebug enables LLM agents to iteratively recover from failures, yielding up to 26% relative improvements in task success across ALFWorld, GAIA, and WebShop. These results establish principled debugging as a pathway to more reliable and adaptive LLM agents. The code and data will be available at https://github.com/ulab-uiuc/AgentDebug

We present RoboMemory, a brain-inspired multi-memory framework for lifelong learning in physical embodied systems, addressing critical challenges in real-world environments: continuous learning, multi-module memory latency, task correlation capture, and infinite-loop mitigation in closed-loop planning. Grounded in cognitive neuroscience, it integrates four core modules: the Information Preprocessor (thalamus-like), the Lifelong Embodied Memory System (hippocampus-like), the Closed-Loop Planning Module (prefrontal lobe-like), and the Low-Level Executer (cerebellum-like) to enable long-term planning and cumulative learning. The Lifelong Embodied Memory System, central to the framework, alleviates inference speed issues in complex memory frameworks via parallelized updates/retrieval across Spatial, Temporal, Episodic, and Semantic submodules. It incorporates a dynamic Knowledge Graph (KG) and consistent architectural design to enhance memory consistency and scalability. Evaluations on EmbodiedBench show RoboMemory outperforms the open-source baseline (Qwen2.5-VL-72B-Ins) by 25% in average success rate and surpasses the closed-source State-of-the-Art (SOTA) (Claude3.5-Sonnet) by 5%, establishing new SOTA. Ablation studies validate key components (critic, spatial memory, long-term memory), while real-world deployment confirms its lifelong learning capability with significantly improved success rates across repeated tasks. RoboMemory alleviates high latency challenges with scalability, serving as a foundational reference for integrating multi-modal memory systems in physical robots.

Cooperatively utilizing both ego-vehicle and infrastructure sensor data via V2X communication has emerged as a promising approach for advanced autonomous driving. However, current research mainly focuses on improving individual modules, rather than taking end-to-end learning to optimize final planning performance, resulting in underutilized data potential. In this paper, we introduce UniV2X, a pioneering cooperative autonomous driving framework that seamlessly integrates all key driving modules across diverse views into a unified network. We propose a sparse-dense hybrid data transmission and fusion mechanism for effective vehicle-infrastructure cooperation, offering three advantages: 1) Effective for simultaneously enhancing agent perception, online mapping, and occupancy prediction, ultimately improving planning performance. 2) Transmission-friendly for practical and limited communication conditions. 3) Reliable data fusion with interpretability of this hybrid data. We implement UniV2X, as well as reproducing several benchmark methods, on the challenging DAIR-V2X, the real-world cooperative driving dataset. Experimental results demonstrate the effectiveness of UniV2X in significantly enhancing planning performance, as well as all intermediate output performance. The project is available at https://github.com/AIR-THU/UniV2X{https://github.com/AIR-THU/UniV2X}.

Developing a general robot manipulation system capable of performing a wide range of tasks in complex, dynamic, and unstructured real-world environments has long been a challenging task. It is widely recognized that achieving human-like efficiency and robustness manipulation requires the robotic brain to integrate a comprehensive set of functions, such as task planning, policy generation, anomaly monitoring and handling, and long-term memory, achieving high-efficiency operation across all functions. Vision-Language Models (VLMs), pretrained on massive multimodal data, have acquired rich world knowledge, exhibiting exceptional scene understanding and multimodal reasoning capabilities. However, existing methods typically focus on realizing only a single function or a subset of functions within the robotic brain, without integrating them into a unified cognitive architecture. Inspired by a divide-and-conquer strategy and the architecture of the human brain, we propose FrankenBot, a VLM-driven, brain-morphic robotic manipulation framework that achieves both comprehensive functionality and high operational efficiency. Our framework includes a suite of components, decoupling a part of key functions from frequent VLM calls, striking an optimal balance between functional completeness and system efficiency. Specifically, we map task planning, policy generation, memory management, and low-level interfacing to the cortex, cerebellum, temporal lobe-hippocampus complex, and brainstem, respectively, and design efficient coordination mechanisms for the modules. We conducted comprehensive experiments in both simulation and real-world robotic environments, demonstrating that our method offers significant advantages in anomaly detection and handling, long-term memory, operational efficiency, and stability -- all without requiring any fine-tuning or retraining.

The rapid evolution of agentic AI marks a new phase in artificial intelligence, where Large Language Models (LLMs) no longer merely respond but act, reason, and adapt. This survey traces the paradigm shift in building agentic AI: from Pipeline-based systems, where planning, tool use, and memory are orchestrated by external logic, to the emerging Model-native paradigm, where these capabilities are internalized within the model's parameters. We first position Reinforcement Learning (RL) as the algorithmic engine enabling this paradigm shift. By reframing learning from imitating static data to outcome-driven exploration, RL underpins a unified solution of LLM + RL + Task across language, vision and embodied domains. Building on this, the survey systematically reviews how each capability -- Planning, Tool use, and Memory -- has evolved from externally scripted modules to end-to-end learned behaviors. Furthermore, it examines how this paradigm shift has reshaped major agent applications, specifically the Deep Research agent emphasizing long-horizon reasoning and the GUI agent emphasizing embodied interaction. We conclude by discussing the continued internalization of agentic capabilities like Multi-agent collaboration and Reflection, alongside the evolving roles of the system and model layers in future agentic AI. Together, these developments outline a coherent trajectory toward model-native agentic AI as an integrated learning and interaction framework, marking the transition from constructing systems that apply intelligence to developing models that grow intelligence through experience.

Graphical User Interface (GUI) agents, driven by Multi-modal Large Language Models (MLLMs), have emerged as a promising paradigm for enabling intelligent interaction with digital systems. This paper provides a structured survey of recent advances in GUI agents, focusing on architectures enhanced by Reinforcement Learning (RL). We first formalize GUI agent tasks as Markov Decision Processes and discuss typical execution environments and evaluation metrics. We then review the modular architecture of (M)LLM-based GUI agents, covering Perception, Planning, and Acting modules, and trace their evolution through representative works. Furthermore, we categorize GUI agent training methodologies into Prompt-based, Supervised Fine-Tuning (SFT)-based, and RL-based approaches, highlighting the progression from simple prompt engineering to dynamic policy learning via RL. Our summary illustrates how recent innovations in multimodal perception, decision reasoning, and adaptive action generation have significantly improved the generalization and robustness of GUI agents in complex real-world environments. We conclude by identifying key challenges and future directions for building more capable and reliable GUI agents.

Reasoning, the process of devising and executing complex goal-oriented action sequences, remains a critical challenge in AI. Current large language models (LLMs) primarily employ Chain-of-Thought (CoT) techniques, which suffer from brittle task decomposition, extensive data requirements, and high latency. Inspired by the hierarchical and multi-timescale processing in the human brain, we propose the Hierarchical Reasoning Model (HRM), a novel recurrent architecture that attains significant computational depth while maintaining both training stability and efficiency. HRM executes sequential reasoning tasks in a single forward pass without explicit supervision of the intermediate process, through two interdependent recurrent modules: a high-level module responsible for slow, abstract planning, and a low-level module handling rapid, detailed computations. With only 27 million parameters, HRM achieves exceptional performance on complex reasoning tasks using only 1000 training samples. The model operates without pre-training or CoT data, yet achieves nearly perfect performance on challenging tasks including complex Sudoku puzzles and optimal path finding in large mazes. Furthermore, HRM outperforms much larger models with significantly longer context windows on the Abstraction and Reasoning Corpus (ARC), a key benchmark for measuring artificial general intelligence capabilities. These results underscore HRM's potential as a transformative advancement toward universal computation and general-purpose reasoning systems.

This paper examines the evolution, architecture, and practical applications of AI agents from their early, rule-based incarnations to modern sophisticated systems that integrate large language models with dedicated modules for perception, planning, and tool use. Emphasizing both theoretical foundations and real-world deployments, the paper reviews key agent paradigms, discusses limitations of current evaluation benchmarks, and proposes a holistic evaluation framework that balances task effectiveness, efficiency, robustness, and safety. Applications across enterprise, personal assistance, and specialized domains are analyzed, with insights into future research directions for more resilient and adaptive AI agent systems.

Embodied AI agents responsible for executing interconnected, long-sequence household tasks often face difficulties with in-context memory, leading to inefficiencies and errors in task execution. To address this issue, we introduce KARMA, an innovative memory system that integrates long-term and short-term memory modules, enhancing large language models (LLMs) for planning in embodied agents through memory-augmented prompting. KARMA distinguishes between long-term and short-term memory, with long-term memory capturing comprehensive 3D scene graphs as representations of the environment, while short-term memory dynamically records changes in objects' positions and states. This dual-memory structure allows agents to retrieve relevant past scene experiences, thereby improving the accuracy and efficiency of task planning. Short-term memory employs strategies for effective and adaptive memory replacement, ensuring the retention of critical information while discarding less pertinent data. Compared to state-of-the-art embodied agents enhanced with memory, our memory-augmented embodied AI agent improves success rates by 1.3x and 2.3x in Composite Tasks and Complex Tasks within the AI2-THOR simulator, respectively, and enhances task execution efficiency by 3.4x and 62.7x. Furthermore, we demonstrate that KARMA's plug-and-play capability allows for seamless deployment on real-world robotic systems, such as mobile manipulation platforms.Through this plug-and-play memory system, KARMA significantly enhances the ability of embodied agents to generate coherent and contextually appropriate plans, making the execution of complex household tasks more efficient. The experimental videos from the work can be found at https://youtu.be/4BT7fnw9ehs. Our code is available at https://github.com/WZX0Swarm0Robotics/KARMA/tree/master.

A primary hurdle of autonomous driving in urban environments is understanding complex and long-tail scenarios, such as challenging road conditions and delicate human behaviors. We introduce DriveVLM, an autonomous driving system leveraging Vision-Language Models (VLMs) for enhanced scene understanding and planning capabilities. DriveVLM integrates a unique combination of chain-of-thought (CoT) modules for scene description, scene analysis, and hierarchical planning. Furthermore, recognizing the limitations of VLMs in spatial reasoning and heavy computational requirements, we propose DriveVLM-Dual, a hybrid system that synergizes the strengths of DriveVLM with the traditional autonomous driving pipeline. DriveVLM-Dual achieves robust spatial understanding and real-time inference speed. Extensive experiments on both the nuScenes dataset and our SUP-AD dataset demonstrate the effectiveness of DriveVLM and the enhanced performance of DriveVLM-Dual, surpassing existing methods in complex and unpredictable driving conditions.

Most automated driving functions are designed for a specific task or vehicle. Most often, the underlying architecture is fixed to specific algorithms to increase performance. Therefore, it is not possible to deploy new modules and algorithms easily. In this paper, we present our automated driving stack which combines both scalability and adaptability. Due to the modular design, our stack allows for a fast integration and testing of novel and state-of-the-art research approaches. Furthermore, it is flexible to be used for our different testing vehicles, including modified EasyMile EZ10 shuttles and different passenger cars. These vehicles differ in multiple ways, e.g. sensor setups, control systems, maximum speed, or steering angle limitations. Finally, our stack is deployed in real world environments, including passenger transport in urban areas. Our stack includes all components needed for operating an autonomous vehicle, including localization, perception, planning, controller, and additional safety modules. Our stack is developed, tested, and evaluated in real world traffic in multiple test sites, including the Test Area Autonomous Driving Baden-W\"urttemberg.

Despite the success in specific tasks and scenarios, existing foundation agents, empowered by large models (LMs) and advanced tools, still cannot generalize to different scenarios, mainly due to dramatic differences in the observations and actions across scenarios. In this work, we propose the General Computer Control (GCC) setting: building foundation agents that can master any computer task by taking only screen images (and possibly audio) of the computer as input, and producing keyboard and mouse operations as output, similar to human-computer interaction. The main challenges of achieving GCC are: 1) the multimodal observations for decision-making, 2) the requirements of accurate control of keyboard and mouse, 3) the need for long-term memory and reasoning, and 4) the abilities of efficient exploration and self-improvement. To target GCC, we introduce Cradle, an agent framework with six main modules, including: 1) information gathering to extract multi-modality information, 2) self-reflection to rethink past experiences, 3) task inference to choose the best next task, 4) skill curation for generating and updating relevant skills for given tasks, 5) action planning to generate specific operations for keyboard and mouse control, and 6) memory for storage and retrieval of past experiences and known skills. To demonstrate the capabilities of generalization and self-improvement of Cradle, we deploy it in the complex AAA game Red Dead Redemption II, serving as a preliminary attempt towards GCC with a challenging target. To our best knowledge, our work is the first to enable LMM-based agents to follow the main storyline and finish real missions in complex AAA games, with minimal reliance on prior knowledge or resources. The project website is at https://baai-agents.github.io/Cradle/.

We aim to evaluate Large Language Models (LLMs) for embodied decision making. While a significant body of work has been leveraging LLMs for decision making in embodied environments, we still lack a systematic understanding of their performance because they are usually applied in different domains, for different purposes, and built based on different inputs and outputs. Furthermore, existing evaluations tend to rely solely on a final success rate, making it difficult to pinpoint what ability is missing in LLMs and where the problem lies, which in turn blocks embodied agents from leveraging LLMs effectively and selectively. To address these limitations, we propose a generalized interface (Embodied Agent Interface) that supports the formalization of various types of tasks and input-output specifications of LLM-based modules. Specifically, it allows us to unify 1) a broad set of embodied decision-making tasks involving both state and temporally extended goals, 2) four commonly-used LLM-based modules for decision making: goal interpretation, subgoal decomposition, action sequencing, and transition modeling, and 3) a collection of fine-grained metrics which break down evaluation into various types of errors, such as hallucination errors, affordance errors, various types of planning errors, etc. Overall, our benchmark offers a comprehensive assessment of LLMs' performance for different subtasks, pinpointing the strengths and weaknesses in LLM-powered embodied AI systems, and providing insights for effective and selective use of LLMs in embodied decision making.

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range of applications, from personal assistance to industrial robotics, emphasizing the importance of robots interacting flexibly, naturally and safely with humans. This paper presents an advanced architecture for robotic action planning that integrates communication, perception, and planning with Large Language Models (LLMs). Our system is designed to translate commands expressed in natural language into executable robot actions, incorporating environmental information and dynamically updating plans based on real-time feedback. The Planner Module is the core of the system where LLMs embedded in a modified ReAct framework are employed to interpret and carry out user commands. By leveraging their extensive pre-trained knowledge, LLMs can effectively process user requests without the need to introduce new knowledge on the changing environment. The modified ReAct framework further enhances the execution space by providing real-time environmental perception and the outcomes of physical actions. By combining robust and dynamic semantic map representations as graphs with control components and failure explanations, this architecture enhances a robot adaptability, task execution, and seamless collaboration with human users in shared and dynamic environments. Through the integration of continuous feedback loops with the environment the system can dynamically adjusts the plan to accommodate unexpected changes, optimizing the robot ability to perform tasks. Using a dataset of previous experience is possible to provide detailed feedback about the failure. Updating the LLMs context of the next iteration with suggestion on how to overcame the issue.

We present Plancraft, a multi-modal evaluation dataset for LLM agents. Plancraft has both a text-only and multi-modal interface, based on the Minecraft crafting GUI. We include the Minecraft Wiki to evaluate tool use and Retrieval Augmented Generation (RAG), as well as an oracle planner and oracle RAG information extractor, to ablate the different components of a modern agent architecture. To evaluate decision-making, Plancraft also includes a subset of examples that are intentionally unsolvable, providing a realistic challenge that requires the agent not only to complete tasks but also to decide whether they are solvable at all. We benchmark both open-source and closed-source LLMs and strategies on our task and compare their performance to a handcrafted planner. We find that LLMs and VLMs struggle with the planning problems that Plancraft introduces, and we offer suggestions on how to improve their capabilities.

Large language models (LLMs) have demonstrated remarkable zero-shot generalization abilities: state-of-the-art chatbots can provide plausible answers to many common questions that arise in daily life. However, so far, LLMs cannot reliably solve long-horizon planning problems. By contrast, classical planners, once a problem is given in a formatted way, can use efficient search algorithms to quickly identify correct, or even optimal, plans. In an effort to get the best of both worlds, this paper introduces LLM+P, the first framework that incorporates the strengths of classical planners into LLMs. LLM+P takes in a natural language description of a planning problem, then returns a correct (or optimal) plan for solving that problem in natural language. LLM+P does so by first converting the language description into a file written in the planning domain definition language (PDDL), then leveraging classical planners to quickly find a solution, and then translating the found solution back into natural language. Along with LLM+P, we define a diverse set of different benchmark problems taken from common planning scenarios. Via a comprehensive set of experiments on these benchmark problems, we find that LLM+P is able to provide optimal solutions for most problems, while LLMs fail to provide even feasible plans for most problems.\footnote{The code and results are publicly available at https://github.com/Cranial-XIX/llm-pddl.git.

Planning module is an essential component of intelligent vehicle study. In this paper, we address the risk-aware planning problem of UGVs through a global-local planning framework which seamlessly integrates risk assessment methods. In particular, a global planning algorithm named Coarse2fine A* is proposed, which incorporates a potential field approach to enhance the safety of the planning results while ensuring the efficiency of the algorithm. A deterministic sampling method for local planning is leveraged and modified to suit off-road environment. It also integrates a risk assessment model to emphasize the avoidance of local risks. The performance of the algorithm is demonstrated through simulation experiments by comparing it with baseline algorithms, where the results of Coarse2fine A* are shown to be approximately 30% safer than those of the baseline algorithms. The practicality and effectiveness of the proposed planning framework are validated by deploying it on a real-world system consisting of a control center and a practical UGV platform.

Video procedure planning, i.e., planning a sequence of action steps given the video frames of start and goal states, is an essential ability for embodied AI. Recent works utilize Large Language Models (LLMs) to generate enriched action step description texts to guide action step decoding. Although LLMs are introduced, these methods decode the action steps into a closed-set of one-hot vectors, limiting the model's capability of generalizing to new steps or tasks. Additionally, fixed action step descriptions based on world-level commonsense may contain noise in specific instances of visual states. In this paper, we propose PlanLLM, a cross-modal joint learning framework with LLMs for video procedure planning. We propose an LLM-Enhanced Planning module which fully uses the generalization ability of LLMs to produce free-form planning output and to enhance action step decoding. We also propose Mutual Information Maximization module to connect world-level commonsense of step descriptions and sample-specific information of visual states, enabling LLMs to employ the reasoning ability to generate step sequences. With the assistance of LLMs, our method can both closed-set and open vocabulary procedure planning tasks. Our PlanLLM achieves superior performance on three benchmarks, demonstrating the effectiveness of our designs.

NeMo (Neural Modules) is a Python framework-agnostic toolkit for creating AI applications through re-usability, abstraction, and composition. NeMo is built around neural modules, conceptual blocks of neural networks that take typed inputs and produce typed outputs. Such modules typically represent data layers, encoders, decoders, language models, loss functions, or methods of combining activations. NeMo makes it easy to combine and re-use these building blocks while providing a level of semantic correctness checking via its neural type system. The toolkit comes with extendable collections of pre-built modules for automatic speech recognition and natural language processing. Furthermore, NeMo provides built-in support for distributed training and mixed precision on latest NVIDIA GPUs. NeMo is open-source https://github.com/NVIDIA/NeMo

In the field of urban planning, general-purpose large language models often struggle to meet the specific needs of planners. Tasks like generating urban planning texts, retrieving related information, and evaluating planning documents pose unique challenges. To enhance the efficiency of urban professionals and overcome these obstacles, we introduce PlanGPT, the first specialized Large Language Model tailored for urban and spatial planning. Developed through collaborative efforts with institutions like the Chinese Academy of Urban Planning, PlanGPT leverages a customized local database retrieval framework, domain-specific fine-tuning of base models, and advanced tooling capabilities. Empirical tests demonstrate that PlanGPT has achieved advanced performance, delivering responses of superior quality precisely tailored to the intricacies of urban planning.

Large language models (LLMs) have demonstrated exceptional reasoning capabilities, enabling them to solve various complex problems. Recently, this ability has been applied to the paradigm of tool learning. Tool learning involves providing examples of tool usage and their corresponding functions, allowing LLMs to formulate plans and demonstrate the process of invoking and executing each tool. LLMs can address tasks that they cannot complete independently, thereby enhancing their potential across different tasks. However, this approach faces two key challenges. First, redundant error correction leads to unstable planning and long execution time. Additionally, designing a correct plan among multiple tools is also a challenge in tool learning. To address these issues, we propose Tool-Planner, a task-processing framework based on toolkits. Tool-Planner groups tools based on the API functions with the same function into a toolkit and allows LLMs to implement planning across the various toolkits. When a tool error occurs, the language model can reselect and adjust tools based on the toolkit. Experiments show that our approach demonstrates a high pass and win rate across different datasets and optimizes the planning scheme for tool learning in models such as GPT-4 and Claude 3, showcasing the potential of our method.

Large language models (LLMs) have opened up new possibilities for intelligent agents, endowing them with human-like thinking and cognitive abilities. In this work, we delve into the potential of large language models (LLMs) in autonomous driving (AD). We introduce DriveMLM, an LLM-based AD framework that can perform close-loop autonomous driving in realistic simulators. To this end, (1) we bridge the gap between the language decisions and the vehicle control commands by standardizing the decision states according to the off-the-shelf motion planning module. (2) We employ a multi-modal LLM (MLLM) to model the behavior planning module of a module AD system, which uses driving rules, user commands, and inputs from various sensors (e.g., camera, lidar) as input and makes driving decisions and provide explanations; This model can plug-and-play in existing AD systems such as Apollo for close-loop driving. (3) We design an effective data engine to collect a dataset that includes decision state and corresponding explanation annotation for model training and evaluation. We conduct extensive experiments and show that our model achieves 76.1 driving score on the CARLA Town05 Long, and surpasses the Apollo baseline by 4.7 points under the same settings, demonstrating the effectiveness of our model. We hope this work can serve as a baseline for autonomous driving with LLMs. Code and models shall be released at https://github.com/OpenGVLab/DriveMLM.

Robots are increasingly being used in dynamic environments like workplaces, hospitals, and homes. As a result, interactions with robots must be simple and intuitive, with robots perception adapting efficiently to human-induced changes. This paper presents a robot control architecture that addresses key challenges in human-robot interaction, with a particular focus on the dynamic creation and continuous update of the robot state representation. The architecture uses Large Language Models to integrate diverse information sources, including natural language commands, robotic skills representation, real-time dynamic semantic mapping of the perceived scene. This enables flexible and adaptive robotic behavior in complex, dynamic environments. Traditional robotic systems often rely on static, pre-programmed instructions and settings, limiting their adaptability to dynamic environments and real-time collaboration. In contrast, this architecture uses LLMs to interpret complex, high-level instructions and generate actionable plans that enhance human-robot collaboration. At its core, the system Perception Module generates and continuously updates a semantic scene graph using RGB-D sensor data, providing a detailed and structured representation of the environment. A particle filter is employed to ensure accurate object localization in dynamic, real-world settings. The Planner Module leverages this up-to-date semantic map to break down high-level tasks into sub-tasks and link them to robotic skills such as navigation, object manipulation (e.g., PICK and PLACE), and movement (e.g., GOTO). By combining real-time perception, state tracking, and LLM-driven communication and task planning, the architecture enhances adaptability, task efficiency, and human-robot collaboration in dynamic environments.

The functionality of Large Language Model (LLM) agents is primarily determined by two capabilities: action planning and answer summarization. The former, action planning, is the core capability that dictates an agent's performance. However, prevailing training paradigms employ end-to-end, multi-objective optimization that jointly trains both capabilities. This paradigm faces two critical challenges: imbalanced optimization objective allocation and scarcity of verifiable data, making it difficult to enhance the agent's planning capability. To address these challenges, we propose Reinforcement Learning with Tool-use Rewards (RLTR), a novel framework that decouples the training process to enable a focused, single-objective optimization of the planning module. Crucially, RLTR introduces a reward signal based on tool-use completeness to directly evaluate the quality of tool invocation sequences. This method offers a more direct and reliable training signal than assessing the final response content, thereby obviating the need for verifiable data. Our experiments demonstrate that RLTR achieves an 8%-12% improvement in planning performance compared to end-to-end baselines. Moreover, this enhanced planning capability, in turn, translates to a 5%-6% increase in the final response quality of the overall agent system.

We investigate non-collaborative dialogue agents, which are expected to engage in strategic conversations with diverse users, for securing a mutual agreement that leans favorably towards the system's objectives. This poses two main challenges for existing dialogue agents: 1) The inability to integrate user-specific characteristics into the strategic planning, and 2) The difficulty of training strategic planners that can be generalized to diverse users. To address these challenges, we propose Trip to enhance the capability in tailored strategic planning, incorporating a user-aware strategic planning module and a population-based training paradigm. Through experiments on benchmark non-collaborative dialogue tasks, we demonstrate the effectiveness of Trip in catering to diverse users.

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals or distinct tasks, even during execution. However, most traditional methods require predefined module design, which makes it hard to generalize to different goals. Recent large language model based approaches can allow for more open-ended planning but often require heavy prompt engineering or domain-specific pretrained models. To tackle this, we propose a simple framework that achieves interactive task planning with language models. Our system incorporates both high-level planning and low-level function execution via language. We verify the robustness of our system in generating novel high-level instructions for unseen objectives and its ease of adaptation to different tasks by merely substituting the task guidelines, without the need for additional complex prompt engineering. Furthermore, when the user sends a new request, our system is able to replan accordingly with precision based on the new request, task guidelines and previously executed steps. Please check more details on our https://wuphilipp.github.io/itp_site and https://youtu.be/TrKLuyv26_g.

Automated Planning and Scheduling is among the growing areas in Artificial Intelligence (AI) where mention of LLMs has gained popularity. Based on a comprehensive review of 126 papers, this paper investigates eight categories based on the unique applications of LLMs in addressing various aspects of planning problems: language translation, plan generation, model construction, multi-agent planning, interactive planning, heuristics optimization, tool integration, and brain-inspired planning. For each category, we articulate the issues considered and existing gaps. A critical insight resulting from our review is that the true potential of LLMs unfolds when they are integrated with traditional symbolic planners, pointing towards a promising neuro-symbolic approach. This approach effectively combines the generative aspects of LLMs with the precision of classical planning methods. By synthesizing insights from existing literature, we underline the potential of this integration to address complex planning challenges. Our goal is to encourage the ICAPS community to recognize the complementary strengths of LLMs and symbolic planners, advocating for a direction in automated planning that leverages these synergistic capabilities to develop more advanced and intelligent planning systems.

Large Language Models (LLMs) are increasingly being used as autonomous agents capable of performing complicated tasks. However, they lack the ability to perform reliable long-horizon planning on their own. This paper bridges this gap by introducing the Planning Copilot, a chatbot that integrates multiple planning tools and allows users to invoke them through instructions in natural language. The Planning Copilot leverages the Model Context Protocol (MCP), a recently developed standard for connecting LLMs with external tools and systems. This approach allows using any LLM that supports MCP without domain-specific fine-tuning. Our Planning Copilot supports common planning tasks such as checking the syntax of planning problems, selecting an appropriate planner, calling it, validating the plan it generates, and simulating their execution. We empirically evaluate the ability of our Planning Copilot to perform these tasks using three open-source LLMs. The results show that the Planning Copilot highly outperforms using the same LLMs without the planning tools. We also conducted a limited qualitative comparison of our tool against Chat GPT-5, a very recent commercial LLM. Our results shows that our Planning Copilot significantly outperforms GPT-5 despite relying on a much smaller LLM. This suggests dedicated planning tools may be an effective way to enable LLMs to perform planning tasks.

Real-world multi-modal problems are rarely solved by a single machine learning model, and often require multi-step computational plans that involve stitching several models. Tool-augmented LLMs hold tremendous promise for automating the generation of such computational plans. However, the lack of standardized benchmarks for evaluating LLMs as planners for multi-step multi-modal tasks has prevented a systematic study of planner design decisions. Should LLMs generate a full plan in a single shot or step-by-step? Should they invoke tools directly with Python code or through structured data formats like JSON? Does feedback improve planning? To answer these questions and more, we introduce m&m's: a benchmark containing 4K+ multi-step multi-modal tasks involving 33 tools that include multi-modal models, (free) public APIs, and image processing modules. For each of these task queries, we provide automatically generated plans using this realistic toolset. We further provide a high-quality subset of 1,565 task plans that are human-verified and correctly executable. With m&m's, we evaluate 6 popular LLMs with 2 planning strategies (multi-step vs. step-by-step planning), 2 plan formats (JSON vs. code), and 3 types of feedback (parsing/verification/execution). Finally, we summarize takeaways from our extensive experiments. Our dataset and code are available on HuggingFace (https://huggingface.co/datasets/zixianma/mnms) and Github (https://github.com/RAIVNLab/mnms).

Today's classical planners are powerful, but modeling input tasks in formats such as PDDL is tedious and error-prone. In contrast, planning with Large Language Models (LLMs) allows for almost any input text, but offers no guarantees on plan quality or even soundness. In an attempt to merge the best of these two approaches, some work has begun to use LLMs to automate parts of the PDDL creation process. However, these methods still require various degrees of expert input. We present NL2Plan, the first domain-agnostic offline LLM-driven planning system. NL2Plan uses an LLM to incrementally extract the necessary information from a short text prompt before creating a complete PDDL description of both the domain and the problem, which is finally solved by a classical planner. We evaluate NL2Plan on four planning domains and find that it solves 10 out of 15 tasks - a clear improvement over a plain chain-of-thought reasoning LLM approach, which only solves 2 tasks. Moreover, in two out of the five failure cases, instead of returning an invalid plan, NL2Plan reports that it failed to solve the task. In addition to using NL2Plan in end-to-end mode, users can inspect and correct all of its intermediate results, such as the PDDL representation, increasing explainability and making it an assistive tool for PDDL creation.

Embodied agents have achieved prominent performance in following human instructions to complete tasks. However, the potential of providing instructions informed by texts and images to assist humans in completing tasks remains underexplored. To uncover this capability, we present the multimodal procedural planning (MPP) task, in which models are given a high-level goal and generate plans of paired text-image steps, providing more complementary and informative guidance than unimodal plans. The key challenges of MPP are to ensure the informativeness, temporal coherence,and accuracy of plans across modalities. To tackle this, we propose Text-Image Prompting (TIP), a dual-modality prompting method that jointly leverages zero-shot reasoning ability in large language models (LLMs) and compelling text-to-image generation ability from diffusion-based models. TIP improves the interaction in the dual modalities using Text-to-Image Bridge and Image-to-Text Bridge, allowing LLMs to guide the textual-grounded image plan generation and leveraging the descriptions of image plans to ground the textual plan reversely. To address the lack of relevant datasets, we collect WIKIPLAN and RECIPEPLAN as a testbed for MPP. Our results show compelling human preferences and automatic scores against unimodal and multimodal baselines on WIKIPLAN and RECIPEPLAN in terms of informativeness, temporal coherence, and plan accuracy. Our code and data: https://github.com/YujieLu10/MPP.

Transfer learning has recently become the dominant paradigm of machine learning. Pre-trained models fine-tuned for downstream tasks achieve better performance with fewer labelled examples. Nonetheless, it remains unclear how to develop models that specialise towards multiple tasks without incurring negative interference and that generalise systematically to non-identically distributed tasks. Modular deep learning has emerged as a promising solution to these challenges. In this framework, units of computation are often implemented as autonomous parameter-efficient modules. Information is conditionally routed to a subset of modules and subsequently aggregated. These properties enable positive transfer and systematic generalisation by separating computation from routing and updating modules locally. We offer a survey of modular architectures, providing a unified view over several threads of research that evolved independently in the scientific literature. Moreover, we explore various additional purposes of modularity, including scaling language models, causal inference, programme induction, and planning in reinforcement learning. Finally, we report various concrete applications where modularity has been successfully deployed such as cross-lingual and cross-modal knowledge transfer. Related talks and projects to this survey, are available at https://www.modulardeeplearning.com/.

Pre-trained large language models (LLMs) capture procedural knowledge about the world. Recent work has leveraged LLM's ability to generate abstract plans to simplify challenging control tasks, either by action scoring, or action modeling (fine-tuning). However, the transformer architecture inherits several constraints that make it difficult for the LLM to directly serve as the agent: e.g. limited input lengths, fine-tuning inefficiency, bias from pre-training, and incompatibility with non-text environments. To maintain compatibility with a low-level trainable actor, we propose to instead use the knowledge in LLMs to simplify the control problem, rather than solving it. We propose the Plan, Eliminate, and Track (PET) framework. The Plan module translates a task description into a list of high-level sub-tasks. The Eliminate module masks out irrelevant objects and receptacles from the observation for the current sub-task. Finally, the Track module determines whether the agent has accomplished each sub-task. On the AlfWorld instruction following benchmark, the PET framework leads to a significant 15% improvement over SOTA for generalization to human goal specifications.

In this paper, we study the problem of planning in Minecraft, a popular, democratized yet challenging open-ended environment for developing multi-task embodied agents. We've found two primary challenges of empowering such agents with planning: 1) planning in an open-ended world like Minecraft requires precise and multi-step reasoning due to the long-term nature of the tasks, and 2) as vanilla planners do not consider the proximity to the current agent when ordering parallel sub-goals within a complicated plan, the resulting plan could be inefficient. To this end, we propose "Describe, Explain, Plan and Select" (DEPS), an interactive planning approach based on Large Language Models (LLMs). Our approach helps with better error correction from the feedback during the long-haul planning, while also bringing the sense of proximity via goal Selector, a learnable module that ranks parallel sub-goals based on the estimated steps of completion and improves the original plan accordingly. Our experiments mark the milestone of the first multi-task agent that can robustly accomplish 70+ Minecraft tasks and nearly doubles the overall performances. Finally, the ablation and exploratory studies detail how our design beats the counterparts and provide a promising update on the ObtainDiamond grand challenge with our approach. The code is released at https://github.com/CraftJarvis/MC-Planner.

While large language models (LLMs) have recently demonstrated strong potential in solving planning problems, there is a trade-off between flexibility and complexity. LLMs, as zero-shot planners themselves, are still not capable of directly generating valid plans for complex planning problems such as multi-constraint or long-horizon tasks. On the other hand, many frameworks aiming to solve complex planning problems often rely on task-specific preparatory efforts, such as task-specific in-context examples and pre-defined critics/verifiers, which limits their cross-task generalization capability. In this paper, we tackle these challenges by observing that the core of many planning problems lies in optimization problems: searching for the optimal solution (best plan) with goals subject to constraints (preconditions and effects of decisions). With LLMs' commonsense, reasoning, and programming capabilities, this opens up the possibilities of a universal LLM-based approach to planning problems. Inspired by this observation, we propose LLMFP, a general-purpose framework that leverages LLMs to capture key information from planning problems and formally formulate and solve them as optimization problems from scratch, with no task-specific examples needed. We apply LLMFP to 9 planning problems, ranging from multi-constraint decision making to multi-step planning problems, and demonstrate that LLMFP achieves on average 83.7% and 86.8% optimal rate across 9 tasks for GPT-4o and Claude 3.5 Sonnet, significantly outperforming the best baseline (direct planning with OpenAI o1-preview) with 37.6% and 40.7% improvements. We also validate components of LLMFP with ablation experiments and analyzed the underlying success and failure reasons.

Robotic instruction following tasks require seamless integration of visual perception, task planning, target localization, and motion execution. However, existing task planning methods for instruction following are either data-driven or underperform in zero-shot scenarios due to difficulties in grounding lengthy instructions into actionable plans under operational constraints. To address this, we propose FlowPlan, a structured multi-stage LLM workflow that elevates zero-shot pipeline and bridges the performance gap between zero-shot and data-driven in-context learning methods. By decomposing the planning process into modular stages--task information retrieval, language-level reasoning, symbolic-level planning, and logical evaluation--FlowPlan generates logically coherent action sequences while adhering to operational constraints and further extracts contextual guidance for precise instance-level target localization. Benchmarked on the ALFRED and validated in real-world applications, our method achieves competitive performance relative to data-driven in-context learning methods and demonstrates adaptability across diverse environments. This work advances zero-shot task planning in robotic systems without reliance on labeled data. Project website: https://instruction-following-project.github.io/.

Generating plans of action, and reasoning about change have long been considered a core competence of intelligent agents. It is thus no surprise that evaluating the planning and reasoning capabilities of large language models (LLMs) has become a hot topic of research. Most claims about LLM planning capabilities are however based on common sense tasks-where it becomes hard to tell whether LLMs are planning or merely retrieving from their vast world knowledge. There is a strong need for systematic and extensible planning benchmarks with sufficient diversity to evaluate whether LLMs have innate planning capabilities. Motivated by this, we propose PlanBench, an extensible benchmark suite based on the kinds of domains used in the automated planning community, especially in the International Planning Competition, to test the capabilities of LLMs in planning or reasoning about actions and change. PlanBench provides sufficient diversity in both the task domains and the specific planning capabilities. Our studies also show that on many critical capabilities-including plan generation-LLM performance falls quite short, even with the SOTA models. PlanBench can thus function as a useful marker of progress of LLMs in planning and reasoning.

A story premise succinctly defines a story's main idea, foundation, and trajectory. It serves as the initial trigger in automatic story generation. Existing sources of story premises are limited by a lack of diversity, uneven quality, and high costs that make them difficult to scale. In response, we introduce Modular Story Premise Synthesis (MoPS) which breaks down story premises into modules like background and persona for automated design and generation. MoPS consists of three phases: (1) Precollect a consistent set of candidates for each module to form a nested dictionary. (2) Extract a key path from the nested dictionary as the premise design. (3) Instruct an LLM to integrate the design into a coherent premise sentence. Thorough evaluations demonstrate that our synthesized premises excel in diversity, fascination, completeness, and originality compared to those induced from large language models and captured from public story datasets. Similarly, the extended novels and scripts generated from our premises also exhibit higher quality. In supplementary materials, we provide the MoPS code suite, along with 7.6k generated premises and 1k extended stories. Code: https://github.com/GAIR-NLP/MoPS.

LLMs have immense potential for generating plans, transforming an initial world state into a desired goal state. A large body of research has explored the use of LLMs for various planning tasks, from web navigation to travel planning and database querying. However, many of these systems are tailored to specific problems, making it challenging to compare them or determine the best approach for new tasks. There is also a lack of clear and consistent evaluation criteria. Our survey aims to offer a comprehensive overview of current LLM planners to fill this gap. It builds on foundational work by Kartam and Wilkins (1990) and examines six key performance criteria: completeness, executability, optimality, representation, generalization, and efficiency. For each, we provide a thorough analysis of representative works and highlight their strengths and weaknesses. Our paper also identifies crucial future directions, making it a valuable resource for both practitioners and newcomers interested in leveraging LLM planning to support agentic workflows.

Plan-and-Write is a common hierarchical approach in long-form narrative text generation, which first creates a plan to guide the narrative writing. Following this approach, several studies rely on simply prompting large language models for planning, which often yields suboptimal results. In this paper, we propose a new framework called Evaluation-guided Iterative Plan Extraction for long-form narrative text generation (EIPE-text), which extracts plans from the corpus of narratives and utilizes the extracted plans to construct a better planner. EIPE-text has three stages: plan extraction, learning, and inference. In the plan extraction stage, it iteratively extracts and improves plans from the narrative corpus and constructs a plan corpus. We propose a question answer (QA) based evaluation mechanism to automatically evaluate the plans and generate detailed plan refinement instructions to guide the iterative improvement. In the learning stage, we build a better planner by fine-tuning with the plan corpus or in-context learning with examples in the plan corpus. Finally, we leverage a hierarchical approach to generate long-form narratives. We evaluate the effectiveness of EIPE-text in the domains of novels and storytelling. Both GPT-4-based evaluations and human evaluations demonstrate that our method can generate more coherent and relevant long-form narratives. Our code will be released in the future.

Large language models (LLMs) present intriguing opportunities to enhance user interaction with traditional algorithms and tools in real-world applications. An advanced planning system (APS) is a sophisticated software that leverages optimization to help operations planners create, interpret, and modify an operational plan. While highly beneficial, many customers are priced out of using an APS due to the ongoing costs of consultants responsible for customization and maintenance. To address the need for a more accessible APS expressed by supply chain planners, we present SmartAPS, a conversational system built on a tool-augmented LLM. Our system provides operations planners with an intuitive natural language chat interface, allowing them to query information, perform counterfactual reasoning, receive recommendations, and execute scenario analysis to better manage their operation. A short video demonstrating the system has been released: https://youtu.be/KtIrJjlDbyw

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of skills. We overcome this critical limitation and present a method for using LLM-based planners to query new skills and teach robots these skills in a data and time-efficient manner for rigid object manipulation. Our system can re-use newly acquired skills for future tasks, demonstrating the potential of open world and lifelong learning. We evaluate the proposed framework on multiple tasks in simulation and the real world. Videos are available at: https://sites.google.com/mit.edu/halp-robot-learning.

Large Language Models (LLMs) have been the subject of active research, significantly advancing the field of Natural Language Processing (NLP). From BERT to BLOOM, LLMs have surpassed state-of-the-art results in various natural language tasks such as question answering, summarization, and text generation. Many ongoing efforts focus on understanding LLMs' capabilities, including their knowledge of the world, syntax, and semantics. However, extending the textual prowess of LLMs to symbolic reasoning has been slow and predominantly focused on tackling problems related to the mathematical field. In this paper, we explore the use of LLMs for automated planning - a branch of AI concerned with the realization of action sequences (plans) to achieve a goal, typically executed by intelligent agents, autonomous robots, and unmanned vehicles. We introduce Plansformer; an LLM fine-tuned on planning problems and capable of generating plans with favorable behavior in terms of correctness and length with reduced knowledge-engineering efforts. We also demonstrate the adaptability of Plansformer in solving different planning domains with varying complexities, owing to the transfer learning abilities of LLMs. For one configuration of Plansformer, we achieve ~97% valid plans, out of which ~95% are optimal for Towers of Hanoi - a puzzle-solving domain.

Improving the performance of large language models (LLMs) in complex question-answering (QA) scenarios has always been a research focal point. Recent studies have attempted to enhance LLMs' performance by combining step-wise planning with external retrieval. While effective for advanced models like GPT-3.5, smaller LLMs face challenges in decomposing complex questions, necessitating supervised fine-tuning. Previous work has relied on manual annotation and knowledge distillation from teacher LLMs, which are time-consuming and not accurate enough. In this paper, we introduce a novel framework for enhancing LLMs' planning capabilities by using planning data derived from knowledge graphs (KGs). LLMs fine-tuned with this data have improved planning capabilities, better equipping them to handle complex QA tasks that involve retrieval. Evaluations on multiple datasets, including our newly proposed benchmark, highlight the effectiveness of our framework and the benefits of KG-derived planning data.

Planning in textual environments have been shown to be a long-standing challenge even for current models. A recent, promising line of work uses LLMs to generate a formal representation of the environment that can be solved by a symbolic planner. However, existing methods rely on a fully-observed environment where all entity states are initially known, so a one-off representation can be constructed, leading to a complete plan. In contrast, we tackle partially-observed environments where there is initially no sufficient information to plan for the end-goal. We propose PDDLEGO that iteratively construct a planning representation that can lead to a partial plan for a given sub-goal. By accomplishing the sub-goal, more information is acquired to augment the representation, eventually achieving the end-goal. We show that plans produced by few-shot PDDLEGO are 43% more efficient than generating plans end-to-end on the Coin Collector simulation, with strong performance (98%) on the more complex Cooking World simulation where end-to-end LLMs fail to generate coherent plans (4%).

Effective planning is essential for the success of any task, from organizing a vacation to routing autonomous vehicles and developing corporate strategies. It involves setting goals, formulating plans, and allocating resources to achieve them. LLMs are particularly well-suited for automated planning due to their strong capabilities in commonsense reasoning. They can deduce a sequence of actions needed to achieve a goal from a given state and identify an effective course of action. However, it is frequently observed that plans generated through direct prompting often fail upon execution. Our survey aims to highlight the existing challenges in planning with language models, focusing on key areas such as embodied environments, optimal scheduling, competitive and cooperative games, task decomposition, reasoning, and planning. Through this study, we explore how LLMs transform AI planning and provide unique insights into the future of LM-assisted planning.

Recent studies have highlighted their proficiency in some simple tasks like writing and coding through various reasoning strategies. However, LLM agents still struggle with tasks that require comprehensive planning, a process that challenges current models and remains a critical research issue. In this study, we concentrate on travel planning, a Multi-Phases planning problem, that involves multiple interconnected stages, such as outlining, information gathering, and planning, often characterized by the need to manage various constraints and uncertainties. Existing reasoning approaches have struggled to effectively address this complex task. Our research aims to address this challenge by developing a human-like planning framework for LLM agents, i.e., guiding the LLM agent to simulate various steps that humans take when solving Multi-Phases problems. Specifically, we implement several strategies to enable LLM agents to generate a coherent outline for each travel query, mirroring human planning patterns. Additionally, we integrate Strategy Block and Knowledge Block into our framework: Strategy Block facilitates information collection, while Knowledge Block provides essential information for detailed planning. Through our extensive experiments, we demonstrate that our framework significantly improves the planning capabilities of LLM agents, enabling them to tackle the travel planning task with improved efficiency and effectiveness. Our experimental results showcase the exceptional performance of the proposed framework; when combined with GPT-4-Turbo, it attains 10times the performance gains in comparison to the baseline framework deployed on GPT-4-Turbo.

Large language models (LLMs) have demonstrated impressive capabilities across diverse tasks, yet their ability to perform structured symbolic planning remains limited, particularly in domains requiring formal representations like the Planning Domain Definition Language (PDDL). In this paper, we present a novel instruction tuning framework, PDDL-Instruct, designed to enhance LLMs' symbolic planning capabilities through logical chain-of-thought reasoning. Our approach focuses on teaching models to rigorously reason about action applicability, state transitions, and plan validity using explicit logical inference steps. By developing instruction prompts that guide models through the precise logical reasoning required to determine when actions can be applied in a given state, we enable LLMs to self-correct their planning processes through structured reflection. The framework systematically builds verification skills by decomposing the planning process into explicit reasoning chains about precondition satisfaction, effect application, and invariant preservation. Experimental results on multiple planning domains show that our chain-of-thought reasoning based instruction-tuned models are significantly better at planning, achieving planning accuracy of up to 94% on standard benchmarks, representing a 66% absolute improvement over baseline models. This work bridges the gap between the general reasoning capabilities of LLMs and the logical precision required for automated planning, offering a promising direction for developing better AI planning systems.

Recent advancements have significantly enhanced the performance of large language models (LLMs) in tackling complex reasoning tasks, achieving notable success in domains like mathematical and logical reasoning. However, these methods encounter challenges with complex planning tasks, primarily due to extended reasoning steps, diverse constraints, and the challenge of handling multiple distinct sub-tasks. To address these challenges, we propose HyperTree Planning (HTP), a novel reasoning paradigm that constructs hypertree-structured planning outlines for effective planning. The hypertree structure enables LLMs to engage in hierarchical thinking by flexibly employing the divide-and-conquer strategy, effectively breaking down intricate reasoning steps, accommodating diverse constraints, and managing multiple distinct sub-tasks in a well-organized manner. We further introduce an autonomous planning framework that completes the planning process by iteratively refining and expanding the hypertree-structured planning outlines. Experiments demonstrate the effectiveness of HTP, achieving state-of-the-art accuracy on the TravelPlanner benchmark with Gemini-1.5-Pro, resulting in a 3.6 times performance improvement over o1-preview.

Recent advancements in large language models (LLMs) have enabled LLM-based agents to successfully tackle interactive planning tasks. However, despite their successes, existing approaches often suffer from planning hallucinations and require retraining for each new agent. To address these challenges, we propose the Meta Plan Optimization (MPO) framework, which enhances agent planning capabilities by directly incorporating explicit guidance. Unlike previous methods that rely on complex knowledge, which either require significant human effort or lack quality assurance, MPO leverages high-level general guidance through meta plans to assist agent planning and enables continuous optimization of the meta plans based on feedback from the agent's task execution. Our experiments conducted on two representative tasks demonstrate that MPO significantly outperforms existing baselines. Moreover, our analysis indicates that MPO provides a plug-and-play solution that enhances both task completion efficiency and generalization capabilities in previous unseen scenarios.

Recent work has considered whether large language models (LLMs) can function as planners: given a task, generate a plan. We investigate whether LLMs can serve as generalized planners: given a domain and training tasks, generate a program that efficiently produces plans for other tasks in the domain. In particular, we consider PDDL domains and use GPT-4 to synthesize Python programs. We also consider (1) Chain-of-Thought (CoT) summarization, where the LLM is prompted to summarize the domain and propose a strategy in words before synthesizing the program; and (2) automated debugging, where the program is validated with respect to the training tasks, and in case of errors, the LLM is re-prompted with four types of feedback. We evaluate this approach in seven PDDL domains and compare it to four ablations and four baselines. Overall, we find that GPT-4 is a surprisingly powerful generalized planner. We also conclude that automated debugging is very important, that CoT summarization has non-uniform impact, that GPT-4 is far superior to GPT-3.5, and that just two training tasks are often sufficient for strong generalization.

Creating interactive scenes often involves complex programming tasks. Although large language models (LLMs) like ChatGPT can generate code from natural language, their output is often error-prone, particularly when scripting interactions among multiple elements. The linear conversational structure limits the editing of individual elements, and lacking graphical and precise control complicates visual integration. To address these issues, we integrate an element-level modularization technique that processes textual descriptions for individual elements through separate LLM modules, with a central module managing interactions among elements. This modular approach allows for refining each element independently. We design a graphical user interface, MoGraphGPT , which combines modular LLMs with enhanced graphical control to generate codes for 2D interactive scenes. It enables direct integration of graphical information and offers quick, precise control through automatically generated sliders. Our comparative evaluation against an AI coding tool, Cursor Composer, as the baseline system and a usability study show MoGraphGPT significantly improves easiness, controllability, and refinement in creating complex 2D interactive scenes with multiple visual elements in a coding-free manner.

Learning a perception and reasoning module for robotic assistants to plan steps to perform complex tasks based on natural language instructions often requires large free-form language annotations, especially for short high-level instructions. To reduce the cost of annotation, large language models (LLMs) are used as a planner with few data. However, when elaborating the steps, even the state-of-the-art planner that uses LLMs mostly relies on linguistic common sense, often neglecting the status of the environment at command reception, resulting in inappropriate plans. To generate plans grounded in the environment, we propose FLARE (Few-shot Language with environmental Adaptive Replanning Embodied agent), which improves task planning using both language command and environmental perception. As language instructions often contain ambiguities or incorrect expressions, we additionally propose to correct the mistakes using visual cues from the agent. The proposed scheme allows us to use a few language pairs thanks to the visual cues and outperforms state-of-the-art approaches. Our code is available at https://github.com/snumprlab/flare.

Large language models excel at function- and file-level code generation, yet generating complete repositories from scratch remains a fundamental challenge. This process demands coherent and reliable planning across proposal- and implementation-level stages, while natural language, due to its ambiguity and verbosity, is ill-suited for faithfully representing complex software structures. To address this, we introduce the Repository Planning Graph (RPG), a persistent representation that unifies proposal- and implementation-level planning by encoding capabilities, file structures, data flows, and functions in one graph. RPG replaces ambiguous natural language with an explicit blueprint, enabling long-horizon planning and scalable repository generation. Building on RPG, we develop ZeroRepo, a graph-driven framework for repository generation from scratch. It operates in three stages: proposal-level planning and implementation-level refinement to construct the graph, followed by graph-guided code generation with test validation. To evaluate this setting, we construct RepoCraft, a benchmark of six real-world projects with 1,052 tasks. On RepoCraft, ZeroRepo produces repositories averaging nearly 36K LOC, roughly 3.9times the strongest baseline (Claude Code) and about 64times other baselines. It attains 81.5% functional coverage and a 69.7% pass rate, exceeding Claude Code by 27.3 and 35.8 percentage points, respectively. Further analysis shows that RPG models complex dependencies, enables progressively more sophisticated planning through near-linear scaling, and enhances LLM understanding of repositories, thereby accelerating agent localization.

Numerous real-world decision-making problems can be formulated and solved using Mixed-Integer Linear Programming (MILP) models. However, the transformation of these problems into MILP models heavily relies on expertise in operations research and mathematical optimization, which restricts non-experts' accessibility to MILP. To address this challenge, we propose a framework for automatically formulating MILP models from unstructured natural language descriptions of decision problems, which integrates Large Language Models (LLMs) and mathematical modeling techniques. This framework consists of three phases: i) identification of decision variables, ii) classification of objective and constraints, and iii) finally, generation of MILP models. In this study, we present a constraint classification scheme and a set of constraint templates that can guide the LLMs in synthesizing a complete MILP model. After fine-tuning LLMs, our approach can identify and synthesize logic constraints in addition to classic demand and resource constraints. The logic constraints have not been studied in existing work. To evaluate the performance of the proposed framework, we extend the NL4Opt dataset with more problem descriptions and constraint types, and with the new dataset, we compare our framework with one-step model generation methods offered by LLMs. The experimental results reveal that with respect to the accuracies of generating the correct model, objective, and constraints, our method which integrates constraint classification and templates with LLMs significantly outperforms the others. The prototype system that we developed has a great potential to capture more constraints for more complex MILPs. It opens up opportunities for developing training tools for operations research practitioners and has the potential to be a powerful tool for automatic decision problem modeling and solving in practice.

Generating 3D scenes from natural language holds great promise for applications in gaming, film, and design. However, existing methods struggle with automation, 3D consistency, and fine-grained control. We present DreamScene, an end-to-end framework for high-quality and editable 3D scene generation from text or dialogue. DreamScene begins with a scene planning module, where a GPT-4 agent infers object semantics and spatial constraints to construct a hybrid graph. A graph-based placement algorithm then produces a structured, collision-free layout. Based on this layout, Formation Pattern Sampling (FPS) generates object geometry using multi-timestep sampling and reconstructive optimization, enabling fast and realistic synthesis. To ensure global consistent, DreamScene employs a progressive camera sampling strategy tailored to both indoor and outdoor settings. Finally, the system supports fine-grained scene editing, including object movement, appearance changes, and 4D dynamic motion. Experiments demonstrate that DreamScene surpasses prior methods in quality, consistency, and flexibility, offering a practical solution for open-domain 3D content creation. Code and demos are available at https://jahnsonblack.github.io/DreamScene-Full/.

Human dialogue contains evolving concepts, and speakers naturally associate multiple concepts to compose a response. However, current dialogue models with the seq2seq framework lack the ability to effectively manage concept transitions and can hardly introduce multiple concepts to responses in a sequential decoding manner. To facilitate a controllable and coherent dialogue, in this work, we devise a concept-guided non-autoregressive model (CG-nAR) for open-domain dialogue generation. The proposed model comprises a multi-concept planning module that learns to identify multiple associated concepts from a concept graph and a customized Insertion Transformer that performs concept-guided non-autoregressive generation to complete a response. The experimental results on two public datasets show that CG-nAR can produce diverse and coherent responses, outperforming state-of-the-art baselines in both automatic and human evaluations with substantially faster inference speed.

As robots become increasingly capable, users will want to describe high-level missions and have robots infer the relevant details. because pre-built maps are difficult to obtain in many realistic settings, accomplishing such missions will require the robot to map and plan online. while many semantic planning methods operate online, they are typically designed for well specified missions such as object search or exploration. recently, large language models (LLMs) have demonstrated powerful contextual reasoning abilities over a range of robotic tasks described in natural language. however, existing LLM-enabled planners typically do not consider online planning or complex missions; rather, relevant subtasks and semantics are provided by a pre-built map or a user. we address these limitations via spine, an online planner for missions with incomplete mission specifications provided in natural language. the planner uses an LLM to reason about subtasks implied by the mission specification and then realizes these subtasks in a receding horizon framework. tasks are automatically validated for safety and refined online with new map observations. we evaluate spine in simulation and real-world settings with missions that require multiple steps of semantic reasoning and exploration in cluttered outdoor environments of over 20,000m^2. compared to baselines that use existing LLM-enabled planning approaches, our method is over twice as efficient in terms of time and distance, requires less user interactions, and does not require a full map. Additional resources are provided at: https://zacravichandran.github.io/SPINE.

Large Language Models (LLMs) have achieved remarkable results. But existing models are expensive to train and deploy, and it is also difficult to expand their knowledge beyond pre-training data without forgetting previous knowledge. This paper proposes a new neural network architecture, ModuleFormer, that leverages modularity to improve the efficiency and flexibility of large language models. ModuleFormer is based on the Sparse Mixture of Experts (SMoE). Unlike the previous SMoE-based modular language model [Gururangan et al., 2021], which requires domain-labeled data to learn domain-specific experts, ModuleFormer can induce modularity from uncurated data with its new load balancing and load concentration losses. ModuleFormer is a modular architecture that includes two different types of modules, new stick-breaking attention heads, and feedforward experts. Different modules are sparsely activated conditions on the input token during training and inference. In our experiment, we found that the modular architecture enables three important abilities for large pre-trained language models: 1) Efficiency, since ModuleFormer only activates a subset of its modules for each input token, thus it could achieve the same performance as dense LLMs with more than two times throughput; 2) Extendability, ModuleFormer is more immune to catastrophic forgetting than dense LLMs and can be easily extended with new modules to learn new knowledge that is not included in the training data; 3) Specialisation, finetuning ModuleFormer could specialize a subset of modules to the finetuning task, and the task-unrelated modules could be easily pruned for a lightweight deployment.

Large language models (LLMs) have demonstrated remarkable prediction performance for a growing array of tasks. However, their rapid proliferation and increasing opaqueness have created a growing need for interpretability. Here, we ask whether we can automatically obtain natural language explanations for black box text modules. A "text module" is any function that maps text to a scalar continuous value, such as a submodule within an LLM or a fitted model of a brain region. "Black box" indicates that we only have access to the module's inputs/outputs. We introduce Summarize and Score (SASC), a method that takes in a text module and returns a natural language explanation of the module's selectivity along with a score for how reliable the explanation is. We study SASC in 3 contexts. First, we evaluate SASC on synthetic modules and find that it often recovers ground truth explanations. Second, we use SASC to explain modules found within a pre-trained BERT model, enabling inspection of the model's internals. Finally, we show that SASC can generate explanations for the response of individual fMRI voxels to language stimuli, with potential applications to fine-grained brain mapping. All code for using SASC and reproducing results is made available on Github.

Autoregressive models for text sometimes generate repetitive and low-quality output because errors accumulate during the steps of generation. This issue is often attributed to exposure bias - the difference between how a model is trained, and how it is used during inference. Denoising diffusion models provide an alternative approach in which a model can revisit and revise its output. However, they can be computationally expensive and prior efforts on text have led to models that produce less fluent output compared to autoregressive models, especially for longer text and paragraphs. In this paper, we propose PLANNER, a model that combines latent semantic diffusion with autoregressive generation, to generate fluent text while exercising global control over paragraphs. The model achieves this by combining an autoregressive "decoding" module with a "planning" module that uses latent diffusion to generate semantic paragraph embeddings in a coarse-to-fine manner. The proposed method is evaluated on various conditional generation tasks, and results on semantic generation, text completion and summarization show its effectiveness in generating high-quality long-form text in an efficient manner.

The creation of 3D assets with explicit, editable part structures is crucial for advancing interactive applications, yet most generative methods produce only monolithic shapes, limiting their utility. We introduce OmniPart, a novel framework for part-aware 3D object generation designed to achieve high semantic decoupling among components while maintaining robust structural cohesion. OmniPart uniquely decouples this complex task into two synergistic stages: (1) an autoregressive structure planning module generates a controllable, variable-length sequence of 3D part bounding boxes, critically guided by flexible 2D part masks that allow for intuitive control over part decomposition without requiring direct correspondences or semantic labels; and (2) a spatially-conditioned rectified flow model, efficiently adapted from a pre-trained holistic 3D generator, synthesizes all 3D parts simultaneously and consistently within the planned layout. Our approach supports user-defined part granularity, precise localization, and enables diverse downstream applications. Extensive experiments demonstrate that OmniPart achieves state-of-the-art performance, paving the way for more interpretable, editable, and versatile 3D content.

Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret abstract instructions and translate them into executable actions. In this paper, we present Manual2Skill, a novel framework that enables robots to perform complex assembly tasks guided by high-level manual instructions. Our approach leverages a Vision-Language Model (VLM) to extract structured information from instructional images and then uses this information to construct hierarchical assembly graphs. These graphs represent parts, subassemblies, and the relationships between them. To facilitate task execution, a pose estimation model predicts the relative 6D poses of components at each assembly step. At the same time, a motion planning module generates actionable sequences for real-world robotic implementation. We demonstrate the effectiveness of Manual2Skill by successfully assembling several real-world IKEA furniture items. This application highlights its ability to manage long-horizon manipulation tasks with both efficiency and precision, significantly enhancing the practicality of robot learning from instruction manuals. This work marks a step forward in advancing robotic systems capable of understanding and executing complex manipulation tasks in a manner akin to human capabilities.

While diffusion model for audio-driven avatar video generation have achieved notable process in synthesizing long sequences with natural audio-visual synchronization and identity consistency, the generation of music-performance videos with camera motions remains largely unexplored. We present YingVideo-MV, the first cascaded framework for music-driven long-video generation. Our approach integrates audio semantic analysis, an interpretable shot planning module (MV-Director), temporal-aware diffusion Transformer architectures, and long-sequence consistency modeling to enable automatic synthesis of high-quality music performance videos from audio signals. We construct a large-scale Music-in-the-Wild Dataset by collecting web data to support the achievement of diverse, high-quality results. Observing that existing long-video generation methods lack explicit camera motion control, we introduce a camera adapter module that embeds camera poses into latent noise. To enhance continulity between clips during long-sequence inference, we further propose a time-aware dynamic window range strategy that adaptively adjust denoising ranges based on audio embedding. Comprehensive benchmark tests demonstrate that YingVideo-MV achieves outstanding performance in generating coherent and expressive music videos, and enables precise music-motion-camera synchronization. More videos are available in our project page: https://giantailab.github.io/YingVideo-MV/ .

LLMs are ideal for decision-making thanks to their ability to reason over long contexts. However, challenges arise when processing speech transcripts that describe complex scenarios, as they are verbose and include repetition, hedging, and vagueness. E.g., during a company's earnings call, an executive might project a positive revenue outlook to reassure investors, despite uncertainty regarding future earnings. It is crucial for LLMs to incorporate this uncertainty systematically when making decisions. In this paper, we introduce DeFine, a modular framework that constructs probabilistic factor profiles from complex scenarios. It then integrates these profiles with analogical reasoning, leveraging insights from similar past experiences to guide LLMs in making critical decisions in new situations. Our framework separates the tasks of quantifying uncertainty and incorporating it into LLM decision-making. This approach is particularly useful in areas such as consulting and financial deliberation, where making decisions under uncertainty is vital.

Large Language Models (LLMs) struggle to directly generate correct plans for complex multi-constraint planning problems, even with self-verification and self-critique. For example, a U.S. domestic travel planning benchmark TravelPlanner was proposed in Xie et al. (2024), where the best LLM OpenAI o1-preview can only find viable travel plans with a 10% success rate given all needed information. In this work, we tackle this by proposing an LLM-based planning framework that formalizes and solves complex multi-constraint planning problems as constrained satisfiability problems, which are further consumed by sound and complete satisfiability solvers. We start with TravelPlanner as the primary use case and show that our framework achieves a success rate of 93.9% and is effective with diverse paraphrased prompts. More importantly, our framework has strong zero-shot generalizability, successfully handling unseen constraints in our newly created unseen international travel dataset and generalizing well to new fundamentally different domains. Moreover, when user input queries are infeasible, our framework can identify the unsatisfiable core, provide failure reasons, and offers personalized modification suggestions. We show that our framework can modify and solve for an average of 81.6% and 91.7% unsatisfiable queries from two datasets and prove with ablations that all key components of our framework are effective and necessary. Project page: https://sites.google.com/view/llm-rwplanning.

Retrieval-augmented language models often struggle with knowledge-intensive tasks due to inefficient retrieval, unstructured knowledge integration, and single-pass architectures. We present Retrieval-And-Structuring (RAS), a novel framework that dynamically constructs and reasons over query-specific knowledge graphs through iterative retrieval and structuring. RAS introduces four key technical innovations: (1) a themescoped retrieval mechanism that efficiently narrows the search space while maintaining retrieval quality, (2) an action planning module that determines knowledge needs and generates focused sub-queries, (3) a dynamic knowledge structuring approach that converts retrieved text into an evolving knowledge graph, and (4) a graph-augmented answering component that leverages the accumulated structured information. Our framework achieves state-of-the-art performance, surpassing leading baselines by 6.4% with open-source language models and 7.0% with proprietary models on seven knowledge-intensive generation datasets across all evaluation metrics. Detailed ablation studies verify the contribution of each technical component to the overall system performance.

Large Language Models (LLMs) and Large Multi-modality Models (LMMs) have demonstrated remarkable decision masking capabilities on a variety of tasks. However, they inherently operate planning within the language space, lacking the vision and spatial imagination ability. In contrast, humans utilize both left and right hemispheres of the brain for language and visual planning during the thinking process. Therefore, we introduce a novel vision-language planning framework in this work to perform concurrent visual and language planning for tasks with inputs of any form. Our framework incorporates visual planning to capture intricate environmental details, while language planning enhances the logical coherence of the overall system. We evaluate the effectiveness of our framework across vision-language tasks, vision-only tasks, and language-only tasks. The results demonstrate the superior performance of our approach, indicating that the integration of visual and language planning yields better contextually aware task execution.

We introduce SwiftSage, a novel agent framework inspired by the dual-process theory of human cognition, designed to excel in action planning for complex interactive reasoning tasks. SwiftSage integrates the strengths of behavior cloning and prompting large language models (LLMs) to enhance task completion performance. The framework comprises two primary modules: the Swift module, representing fast and intuitive thinking, and the Sage module, emulating deliberate thought processes. The Swift module is a small encoder-decoder LM fine-tuned on the oracle agent's action trajectories, while the Sage module employs LLMs such as GPT-4 for subgoal planning and grounding. We develop a heuristic method to harmoniously integrate the two modules, resulting in a more efficient and robust problem-solving process. In 30 tasks from the ScienceWorld benchmark, SwiftSage significantly outperforms other methods such as SayCan, ReAct, and Reflexion, demonstrating its effectiveness in solving complex real-world tasks.

We introduce Planning-guided Retrieval Augmented Generation (PlantimesRAG), a novel framework that augments the retrieve-then-reason paradigm of existing RAG frameworks to plan-then-retrieve. PlantimesRAG formulates a reasoning plan as a directed acyclic graph (DAG), decomposing queries into interrelated atomic sub-queries. Answer generation follows the DAG structure, allowing significant gains in efficiency through parallelized retrieval and generation. While state-of-the-art RAG solutions require extensive data generation and fine-tuning of language models (LMs), PlantimesRAG incorporates frozen LMs as plug-and-play experts to generate high-quality answers. Compared to existing RAG solutions, PlantimesRAG demonstrates significant improvements in reducing hallucinations and bolstering attribution due to its structured sub-query decomposition. Overall, PlantimesRAG offers a new perspective on integrating external knowledge in LMs while ensuring attribution by design, contributing towards more reliable LM-based systems.

Large language models (LLMs) have shown remarkable advancements in enabling language agents to tackle simple tasks. However, applying them for complex, multi-step, long-horizon tasks remains a challenge. Recent work have found success by separating high-level planning from low-level execution, which enables the model to effectively balance high-level planning objectives and low-level execution details. However, generating accurate plans remains difficult since LLMs are not inherently trained for this task. To address this, we propose Plan-and-Act, a novel framework that incorporates explicit planning into LLM-based agents and introduces a scalable method to enhance plan generation through a novel synthetic data generation method. Plan-and-Act consists of a Planner model which generates structured, high-level plans to achieve user goals, and an Executor model that translates these plans into environment-specific actions. To train the Planner effectively, we introduce a synthetic data generation method that annotates ground-truth trajectories with feasible plans, augmented with diverse and extensive examples to enhance generalization. We evaluate Plan-and-Act using web navigation as a representative long-horizon planning environment, demonstrating a state-of the-art 54% success rate on the WebArena-Lite benchmark.

Recent research on Large Language Models (LLMs) has led to remarkable advancements in general NLP AI assistants. Some studies have further explored the use of LLMs for planning and invoking models or APIs to address more general multi-modal user queries. Despite this progress, complex visual-based tasks still remain challenging due to the diverse nature of visual tasks. This diversity is reflected in two aspects: 1) Reasoning paths. For many real-life applications, it is hard to accurately decompose a query simply by examining the query itself. Planning based on the specific visual content and the results of each step is usually required. 2) Flexible inputs and intermediate results. Input forms could be flexible for in-the-wild cases, and involves not only a single image or video but a mixture of videos and images, e.g., a user-view image with some reference videos. Besides, a complex reasoning process will also generate diverse multimodal intermediate results, e.g., video narrations, segmented video clips, etc. To address such general cases, we propose a multi-modal AI assistant, AssistGPT, with an interleaved code and language reasoning approach called Plan, Execute, Inspect, and Learn (PEIL) to integrate LLMs with various tools. Specifically, the Planner is capable of using natural language to plan which tool in Executor should do next based on the current reasoning progress. Inspector is an efficient memory manager to assist the Planner to feed proper visual information into a specific tool. Finally, since the entire reasoning process is complex and flexible, a Learner is designed to enable the model to autonomously explore and discover the optimal solution. We conducted experiments on A-OKVQA and NExT-QA benchmarks, achieving state-of-the-art results. Moreover, showcases demonstrate the ability of our system to handle questions far more complex than those found in the benchmarks.

We are interested in enabling visual planning for complex long-horizon tasks in the space of generated videos and language, leveraging recent advances in large generative models pretrained on Internet-scale data. To this end, we present video language planning (VLP), an algorithm that consists of a tree search procedure, where we train (i) vision-language models to serve as both policies and value functions, and (ii) text-to-video models as dynamics models. VLP takes as input a long-horizon task instruction and current image observation, and outputs a long video plan that provides detailed multimodal (video and language) specifications that describe how to complete the final task. VLP scales with increasing computation budget where more computation time results in improved video plans, and is able to synthesize long-horizon video plans across different robotics domains: from multi-object rearrangement, to multi-camera bi-arm dexterous manipulation. Generated video plans can be translated into real robot actions via goal-conditioned policies, conditioned on each intermediate frame of the generated video. Experiments show that VLP substantially improves long-horizon task success rates compared to prior methods on both simulated and real robots (across 3 hardware platforms).

Large Language Models (LLMs) have demonstrated impressive planning abilities due to their vast "world knowledge". Yet, obtaining plans that are both feasible (grounded in affordances) and cost-effective (in plan length), remains a challenge, despite recent progress. This contrasts with heuristic planning methods that employ domain knowledge (formalized in action models such as PDDL) and heuristic search to generate feasible, optimal plans. Inspired by this, we propose to combine the power of LLMs and heuristic planning by leveraging the world knowledge of LLMs and the principles of heuristic search. Our approach, SayCanPay, employs LLMs to generate actions (Say) guided by learnable domain knowledge, that evaluates actions' feasibility (Can) and long-term reward/payoff (Pay), and heuristic search to select the best sequence of actions. Our contributions are (1) a novel framing of the LLM planning problem in the context of heuristic planning, (2) integrating grounding and cost-effective elements into the generated plans, and (3) using heuristic search over actions. Our extensive evaluations show that our model surpasses other LLM planning approaches.

There is a growing interest in applying pre-trained large language models (LLMs) to planning problems. However, methods that use LLMs directly as planners are currently impractical due to several factors, including limited correctness of plans, strong reliance on feedback from interactions with simulators or even the actual environment, and the inefficiency in utilizing human feedback. In this work, we introduce a novel alternative paradigm that constructs an explicit world (domain) model in planning domain definition language (PDDL) and then uses it to plan with sound domain-independent planners. To address the fact that LLMs may not generate a fully functional PDDL model initially, we employ LLMs as an interface between PDDL and sources of corrective feedback, such as PDDL validators and humans. For users who lack a background in PDDL, we show that LLMs can translate PDDL into natural language and effectively encode corrective feedback back to the underlying domain model. Our framework not only enjoys the correctness guarantee offered by the external planners but also reduces human involvement by allowing users to correct domain models at the beginning, rather than inspecting and correcting (through interactive prompting) every generated plan as in previous work. On two IPC domains and a Household domain that is more complicated than commonly used benchmarks such as ALFWorld, we demonstrate that GPT-4 can be leveraged to produce high-quality PDDL models for over 40 actions, and the corrected PDDL models are then used to successfully solve 48 challenging planning tasks. Resources including the source code will be released at: https://guansuns.github.io/pages/llm-dm.

Robotic manipulation is often challenging due to the long-horizon tasks and the complex object relationships. A common solution is to develop a task and motion planning framework that integrates planning for high-level task and low-level motion. Recently, inspired by the powerful reasoning ability of Large Language Models (LLMs), LLM-based planning approaches have achieved remarkable progress. However, these methods still heavily rely on expert-specific knowledge, often generating invalid plans for unseen and unfamiliar tasks. To address this issue, we propose an innovative language-guided symbolic task planning (LM-SymOpt) framework with optimization. It is the first expert-free planning framework since we combine the world knowledge from LLMs with formal reasoning, resulting in improved generalization capability to new tasks. Specifically, differ to most existing work, our LM-SymOpt employs LLMs to translate natural language instructions into symbolic representations, thereby representing actions as high-level symbols and reducing the search space for planning. Next, after evaluating the action probability of completing the task using LLMs, a weighted random sampling method is introduced to generate candidate plans. Their feasibility is assessed through symbolic reasoning and their cost efficiency is then evaluated using trajectory optimization for selecting the optimal planning. Our experimental results show that LM-SymOpt outperforms existing LLM-based planning approaches.

This is the first work to look at the application of large language models (LLMs) for the purpose of model space edits in automated planning tasks. To set the stage for this union, we explore two different flavors of model space problems that have been studied in the AI planning literature and explore the effect of an LLM on those tasks. We empirically demonstrate how the performance of an LLM contrasts with combinatorial search (CS) -- an approach that has been traditionally used to solve model space tasks in planning, both with the LLM in the role of a standalone model space reasoner as well as in the role of a statistical signal in concert with the CS approach as part of a two-stage process. Our experiments show promising results suggesting further forays of LLMs into the exciting world of model space reasoning for planning tasks in the future.

In this paper, we take the initiative to investigate the performance of LLMs on complex planning tasks that require LLMs to understand a virtual spatial environment simulated via natural language and act correspondingly in text. We propose a benchmark named Natural Language Planning and Action (Natala) composed of a set of novel tasks: Brick World, NLVR-based Manipulations, and Natural Language Navigation. We found that current popular LLMs such as ChatGPT still lack abilities in complex planning. This arises a question -- do the LLMs have a good understanding of the environments described in natural language, or maybe other alternatives such as symbolic representations are neater and hence better to be understood by LLMs? To this end, we propose a novel method called CoS (Chain-of-Symbol Prompting) that represents the complex environments with condensed symbolic spatial representations during the chained intermediate thinking steps. CoS is easy to use and does not need additional training on LLMs. Extensive experiments indicate that CoS clearly surpasses the performance of the Chain-of-Thought (CoT) Prompting in all three planning tasks with even fewer tokens used in the inputs compared with CoT on ChatGPT and InstructGPT. The performance gain is strong, by up to 60.8% accuracy (from 31.8% to 92.6%) on Brick World for ChatGPT. CoS also reduces the number of tokens in the prompt obviously, by up to 65.8% of the tokens (from 407 to 139) for the intermediate steps from demonstrations on Brick World. Code and data available at: https://github.com/hanxuhu/chain-of-symbol-planning

Building a conversational embodied agent to execute real-life tasks has been a long-standing yet quite challenging research goal, as it requires effective human-agent communication, multi-modal understanding, long-range sequential decision making, etc. Traditional symbolic methods have scaling and generalization issues, while end-to-end deep learning models suffer from data scarcity and high task complexity, and are often hard to explain. To benefit from both worlds, we propose JARVIS, a neuro-symbolic commonsense reasoning framework for modular, generalizable, and interpretable conversational embodied agents. First, it acquires symbolic representations by prompting large language models (LLMs) for language understanding and sub-goal planning, and by constructing semantic maps from visual observations. Then the symbolic module reasons for sub-goal planning and action generation based on task- and action-level common sense. Extensive experiments on the TEACh dataset validate the efficacy and efficiency of our JARVIS framework, which achieves state-of-the-art (SOTA) results on all three dialog-based embodied tasks, including Execution from Dialog History (EDH), Trajectory from Dialog (TfD), and Two-Agent Task Completion (TATC) (e.g., our method boosts the unseen Success Rate on EDH from 6.1\% to 15.8\%). Moreover, we systematically analyze the essential factors that affect the task performance and also demonstrate the superiority of our method in few-shot settings. Our JARVIS model ranks first in the Alexa Prize SimBot Public Benchmark Challenge.

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 in its current context. We present a programmatic LLM prompt structure that enables plan generation functional across situated environments, robot capabilities, and tasks. Our key insight is to prompt the LLM with program-like specifications of the available actions and objects in an environment, as well as with example programs that can be executed. We make concrete recommendations about prompt structure and generation constraints through ablation experiments, demonstrate state of the art success rates in VirtualHome household tasks, and deploy our method on a physical robot arm for tabletop tasks. Website at progprompt.github.io

In this paper, we propose a new mixed-integer linear programming (MILP) model ontology and a novel constraint typology of MILP formulations. MILP is a commonly used mathematical programming technique for modelling and solving real-life scheduling, routing, planning, resource allocation, and timetabling optimization problems providing optimized business solutions for industry sectors such as manufacturing, agriculture, defence, healthcare, medicine, energy, finance, and transportation. Despite the numerous real-life Combinatorial Optimization Problems found and solved and millions yet to be discovered and formulated, the number of types of constraints (the building blocks of a MILP) is relatively small. In the search for a suitable machine-readable knowledge representation structure for MILPs, we propose an optimization modelling tree built based upon an MILP model ontology that can be used as a guide for automated systems to elicit an MILP model from end-users on their combinatorial business optimization problems. Our ultimate aim is to develop a machine-readable knowledge representation for MILP that allows us to map an end-user's natural language description of the business optimization problem to an MILP formal specification as a first step towards automated mathematical modelling.

Attaining a high degree of user controllability in visual generation often requires intricate, fine-grained inputs like layouts. However, such inputs impose a substantial burden on users when compared to simple text inputs. To address the issue, we study how Large Language Models (LLMs) can serve as visual planners by generating layouts from text conditions, and thus collaborate with visual generative models. We propose LayoutGPT, a method to compose in-context visual demonstrations in style sheet language to enhance the visual planning skills of LLMs. LayoutGPT can generate plausible layouts in multiple domains, ranging from 2D images to 3D indoor scenes. LayoutGPT also shows superior performance in converting challenging language concepts like numerical and spatial relations to layout arrangements for faithful text-to-image generation. When combined with a downstream image generation model, LayoutGPT outperforms text-to-image models/systems by 20-40% and achieves comparable performance as human users in designing visual layouts for numerical and spatial correctness. Lastly, LayoutGPT achieves comparable performance to supervised methods in 3D indoor scene synthesis, demonstrating its effectiveness and potential in multiple visual domains.