Krishan Rana Sayplan Grounding Llm for Scalable Task Planning 2023
[TOC] Title: SayPlan: Grounding Large Language Models using 3D Scene for for Scalable Task Planning Author: Krishan Rana Publish Year: CoRL 2023 Review Date: Sun, Jan 28, 2024 url: https://arxiv.org/abs/2307.06135 Summary of paper Motivation this is a pipeline introduction paper Contribution Hierarchical Exploration: SayPlan leverages the hierarchical structure of 3DSGs to enable LLMs to conduct semantic searches for task-relevant subgraphs from a condensed representation of the full graph. Path Planning Integration: It integrates a classical path planner to reduce the planning horizon for the LLM, thus improving efficiency. Iterative Replanning Pipeline: An iterative replanning pipeline refines initial plans by incorporating feedback from a scene graph simulator, correcting infeasible actions and preventing planning failures. Some key terms ...