Chain-of-thought prompting, by including intermediate reasoning steps in few-shot examples, elicits strong reasoning abilities in large language models on arithmetic, commonsense, and symbolic tasks.
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Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
81 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
abstract
Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a significant weakness of language models is that they lack real-world experience, which makes it difficult to leverage them for decision making within a given embodiment. For example, asking a language model to describe how to clean a spill might result in a reasonable narrative, but it may not be applicable to a particular agent, such as a robot, that needs to perform this task in a particular environment. We propose to provide real-world grounding by means of pretrained skills, which are used to constrain the model to propose natural language actions that are both feasible and contextually appropriate. The robot can act as the language model's "hands and eyes," while the language model supplies high-level semantic knowledge about the task. We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while value functions associated with these skills provide the grounding necessary to connect this knowledge to a particular physical environment. We evaluate our method on a number of real-world robotic tasks, where we show the need for real-world grounding and that this approach is capable of completing long-horizon, abstract, natural language instructions on a mobile manipulator. The project's website and the video can be found at https://say-can.github.io/.
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- abstract Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a significant weakness of language models is that they lack real-world experience, which makes it difficult to leverage them for decision making within a given embodiment. For example, asking a language model to describe how to clean a spill might result in a reasonable narrative, but it may not be applicable to a particular agent, such as a robot, that needs to
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A unified threat model for LLM-enabled robots reveals three cross-boundary attack chains from user input to unsafe physical actuation due to missing validations and unmediated crossings.
SDP constructs a task-induced state space from raw text by having agents commit to and certify natural-language predicates as states, enabling structured planning and analysis in unstructured language environments.
VeGAS improves MLLM-based embodied agents by sampling action ensembles and using a verifier trained on LLM-synthesized failure cases, yielding up to 36% relative gains on hard multi-object long-horizon tasks in Habitat and ALFRED.
BARISTA introduces a densely annotated egocentric coffee-preparation video dataset and multi-task benchmark that reveals performance variation across models on compositional visual tasks.
ECHO organizes VLA experiences into a hierarchical memory tree in hyperbolic space via autoencoder and entailment constraints, delivering a 12.8% success-rate gain on LIBERO-Long over the pi0 baseline.
Explanations scored higher by an LLM-plus-planner model are judged more helpful by people and produce measurably better navigation performance in uncertain environments than lower-scored or no explanations.
Action Agent pairs LLM-driven video generation with a flow-constrained diffusion transformer to produce velocity commands, raising video success to 86% and delivering 64.7% real-world navigation on a Unitree G1 humanoid.
A multimodal transformer generates and caches interleaved text-image traces to guide closed-loop actions, achieving 92.4% success on LIBERO-Long and 95.5% average on LIBERO.
A 48-camera residential platform delivers real-time occlusion-robust 3D perception and coordinated actuation for multi-human multi-robot interaction in a shared home workspace.
A cross-version swap protocol reveals dominant skills that swing composition success by up to 50 percentage points, and an atomic probe with selective revalidation governs updates at lower cost than always re-testing full compositions.
AeroBridge-TTA achieves +22 pt average gains on out-of-distribution UAV dynamics mismatches by updating a latent state online from observed transitions in a language-conditioned policy.
SAGR builds a semantic area graph from occupancy maps so LLMs can assign rooms to robots for language-guided search, staying competitive with standard exploration while improving semantic target finding by up to 18.8% in large environments.
ADAPT augments planners with affordance reasoning to raise task success in environments with unspecified and time-varying object affordances, and a LoRA-finetuned VLM backend beats GPT-4o on the new DynAfford benchmark.
Self-Correcting RAG formalizes retrieval as MMKP to maximize information density under token limits and uses NLI-guided MCTS to validate faithfulness, raising accuracy and cutting hallucinations on six multi-hop QA and fact-checking datasets.
A governed capability evolution framework with interface, policy, behavioral, and recovery checks reduces unsafe activations to zero in embodied agent upgrades while preserving task success rates.
A runtime governance framework for embodied agents achieves 96.2% interception of unauthorized actions and 91.4% recovery success in 1000 simulation trials by externalizing policy enforcement.
GUIDE decomposes GUI agent evaluation into trajectory segmentation, subtask diagnosis, and overall summary to deliver higher accuracy and structured error reports than holistic baselines.
τ-bench shows state-of-the-art agents like GPT-4o succeed on under 50% of tool-using, rule-following tasks and are inconsistent across repeated trials.
VoxPoser uses LLMs to compose 3D value maps via VLM interaction for model-based synthesis of robust robot trajectories on open-set language-specified manipulation tasks.
Voyager achieves superior lifelong learning in Minecraft by combining an automatic exploration curriculum, a library of executable skills, and iterative LLM prompting with environment feedback, yielding 3.3x more unique items and 15.3x faster milestone unlocks than prior methods while generalizing技能
LLM+P lets LLMs solve planning problems optimally by converting them to PDDL for classical planners and back to natural language.
Reflexion lets LLM agents improve via stored verbal reflections on task feedback, reaching 91% pass@1 on HumanEval and outperforming prior GPT-4 results.
Gato is a multi-modal, multi-task, multi-embodiment generalist policy using one transformer network to handle text, vision, games, and robotics tasks.
citing papers explorer
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Chain-of-Thought Prompting Elicits Reasoning in Large Language Models
Chain-of-thought prompting, by including intermediate reasoning steps in few-shot examples, elicits strong reasoning abilities in large language models on arithmetic, commonsense, and symbolic tasks.
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From Prompt to Physical Actuation: Holistic Threat Modeling of LLM-Enabled Robotic Systems
A unified threat model for LLM-enabled robots reveals three cross-boundary attack chains from user input to unsafe physical actuation due to missing validations and unmediated crossings.
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State-Centric Decision Process
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Think Twice, Act Once: Verifier-Guided Action Selection For Embodied Agents
VeGAS improves MLLM-based embodied agents by sampling action ensembles and using a verifier trained on LLM-synthesized failure cases, yielding up to 36% relative gains on hard multi-object long-horizon tasks in Habitat and ALFRED.
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BARISTA: A Multi-Task Egocentric Benchmark for Compositional Visual Understanding
BARISTA introduces a densely annotated egocentric coffee-preparation video dataset and multi-task benchmark that reveals performance variation across models on compositional visual tasks.
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ECHO: Continuous Hierarchical Memory for Vision-Language-Action Models
ECHO organizes VLA experiences into a hierarchical memory tree in hyperbolic space via autoencoder and entailment constraints, delivering a 12.8% success-rate gain on LIBERO-Long over the pi0 baseline.
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Effective Explanations Support Planning Under Uncertainty
Explanations scored higher by an LLM-plus-planner model are judged more helpful by people and produce measurably better navigation performance in uncertain environments than lower-scored or no explanations.
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Action Agent: Agentic Video Generation Meets Flow-Constrained Diffusion
Action Agent pairs LLM-driven video generation with a flow-constrained diffusion transformer to produce velocity commands, raising video success to 86% and delivering 64.7% real-world navigation on a Unitree G1 humanoid.
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Thinking in Text and Images: Interleaved Vision--Language Reasoning Traces for Long-Horizon Robot Manipulation
A multimodal transformer generates and caches interleaved text-image traces to guide closed-loop actions, achieving 92.4% success on LIBERO-Long and 95.5% average on LIBERO.
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OmniRobotHome: A Multi-Camera Platform for Real-Time Multiadic Human-Robot Interaction
A 48-camera residential platform delivers real-time occlusion-robust 3D perception and coordinated actuation for multi-human multi-robot interaction in a shared home workspace.
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Atomic-Probe Governance for Skill Updates in Compositional Robot Policies
A cross-version swap protocol reveals dominant skills that swing composition success by up to 50 percentage points, and an atomic probe with selective revalidation governs updates at lower cost than always re-testing full compositions.
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AeroBridge-TTA: Test-Time Adaptive Language-Conditioned Control for UAVs
AeroBridge-TTA achieves +22 pt average gains on out-of-distribution UAV dynamics mismatches by updating a latent state online from observed transitions in a language-conditioned policy.
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Semantic Area Graph Reasoning for Multi-Robot Language-Guided Search
SAGR builds a semantic area graph from occupancy maps so LLMs can assign rooms to robots for language-guided search, staying competitive with standard exploration while improving semantic target finding by up to 18.8% in large environments.
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ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints
ADAPT augments planners with affordance reasoning to raise task success in environments with unspecified and time-varying object affordances, and a LoRA-finetuned VLM backend beats GPT-4o on the new DynAfford benchmark.
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Self-Correcting RAG: Enhancing Faithfulness via MMKP Context Selection and NLI-Guided MCTS
Self-Correcting RAG formalizes retrieval as MMKP to maximize information density under token limits and uses NLI-guided MCTS to validate faithfulness, raising accuracy and cutting hallucinations on six multi-hop QA and fact-checking datasets.
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Governed Capability Evolution: Lifecycle-Time Compatibility Checking and Rollback for AI-Component-Based Systems, with Embodied Agents as Case Study
A governed capability evolution framework with interface, policy, behavioral, and recovery checks reduces unsafe activations to zero in embodied agent upgrades while preserving task success rates.
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Harnessing Embodied Agents: Runtime Governance for Policy-Constrained Execution
A runtime governance framework for embodied agents achieves 96.2% interception of unauthorized actions and 91.4% recovery success in 1000 simulation trials by externalizing policy enforcement.
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GUIDE: Interpretable GUI Agent Evaluation via Hierarchical Diagnosis
GUIDE decomposes GUI agent evaluation into trajectory segmentation, subtask diagnosis, and overall summary to deliver higher accuracy and structured error reports than holistic baselines.
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$\tau$-bench: A Benchmark for Tool-Agent-User Interaction in Real-World Domains
τ-bench shows state-of-the-art agents like GPT-4o succeed on under 50% of tool-using, rule-following tasks and are inconsistent across repeated trials.
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VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
VoxPoser uses LLMs to compose 3D value maps via VLM interaction for model-based synthesis of robust robot trajectories on open-set language-specified manipulation tasks.
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Voyager: An Open-Ended Embodied Agent with Large Language Models
Voyager achieves superior lifelong learning in Minecraft by combining an automatic exploration curriculum, a library of executable skills, and iterative LLM prompting with environment feedback, yielding 3.3x more unique items and 15.3x faster milestone unlocks than prior methods while generalizing技能
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LLM+P: Empowering Large Language Models with Optimal Planning Proficiency
LLM+P lets LLMs solve planning problems optimally by converting them to PDDL for classical planners and back to natural language.
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Reflexion: Language Agents with Verbal Reinforcement Learning
Reflexion lets LLM agents improve via stored verbal reflections on task feedback, reaching 91% pass@1 on HumanEval and outperforming prior GPT-4 results.
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A Generalist Agent
Gato is a multi-modal, multi-task, multi-embodiment generalist policy using one transformer network to handle text, vision, games, and robotics tasks.
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MMSkills: Towards Multimodal Skills for General Visual Agents
MMSkills turns public interaction trajectories into compact multimodal skill packages that visual agents can consult at runtime to improve decision-making on benchmarks.
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Towards Long-horizon Embodied Agents with Tool-Aligned Vision-Language-Action Models
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PriorZero: Bridging Language Priors and World Models for Decision Making
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Engagement Process: Rethinking the Temporal Interface of Action and Observation
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Weighted Rules under the Stable Model Semantics
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RePO-VLA: Recovery-Driven Policy Optimization for Vision-Language-Action Models
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Escaping the Diversity Trap in Robotic Manipulation via Anchor-Centric Adaptation
Anchor-Centric Adaptation escapes the diversity trap by prioritizing repeated demonstrations at core anchors over broad coverage, yielding higher success rates under fixed data budgets in robotic manipulation.
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TriRelVLA: Triadic Relational Structure for Generalizable Embodied Manipulation
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Creative Robot Tool Use by Counterfactual Reasoning
Robots discover causal tool features through VLM suggestions and physics-based counterfactual perturbations in simulation, then transfer manipulation skills via conditioned keypoint matching.
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Information Coordination as a Bridge: A Neuro-Symbolic Architecture for Reliable Autonomous Driving Scene Understanding
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Affordance Agent Harness: Verification-Gated Skill Orchestration
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Navigating the Clutter: Waypoint-Based Bi-Level Planning for Multi-Robot Systems
Waypoint-based bi-level planning with curriculum RLVR improves multi-robot task success rates in dense-obstacle benchmarks over motion-agnostic and VLA baselines.
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SafetyALFRED: Evaluating Safety-Conscious Planning of Multimodal Large Language Models
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ST-$\pi$: Structured SpatioTemporal VLA for Robotic Manipulation
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XRZero-G0: Pushing the Frontier of Dexterous Robotic Manipulation with Interfaces, Quality and Ratios
XRZero-G0 enables 2000-hour robot-free datasets that, when mixed 10:1 with real-robot data, match full real-robot performance at 1/20th the cost and support zero-shot transfer.
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EmbodiedGovBench: A Benchmark for Governance, Recovery, and Upgrade Safety in Embodied Agent Systems
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From Perception to Planning: Evolving Ego-Centric Task-Oriented Spatiotemporal Reasoning via Curriculum Learning
EgoTSR applies a three-stage curriculum on a 46-million-sample dataset to build egocentric spatiotemporal reasoning, reaching 92.4% accuracy on long-horizon tasks and reducing chronological biases.