Text2Motion: from natural language instructions to feasible plans

We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and motion-level plan that is verified to reach inferred symbolic goals....

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Bibliographic Details
Published in:	Autonomous robots Vol. 47; no. 8; pp. 1345 - 1365
Main Authors:	Lin, Kevin, Agia, Christopher, Migimatsu, Toki, Pavone, Marco, Bohg, Jeannette
Format:	Journal Article
Language:	English
Published:	New York Springer US 01.12.2023 Springer Nature B.V
Subjects:	Artificial Intelligence Computer Imaging Control Engineering Feasibility Language instruction Large language models Mechatronics Natural language Pattern Recognition and Graphics Planning Reasoning Robotics Robotics and Automation Skills Task planning (robotics) Vision Large language models Long-horizon planning Robot manipulation
ISSN:	0929-5593, 1573-7527
Online Access:	Get full text
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