{"id":"https://openalex.org/W4413945688","doi":"https://doi.org/10.1109/icra55743.2025.11128343","title":"Large Language Model Based Autonomous Task Planning for Abstract Commands","display_name":"Large Language Model Based Autonomous Task Planning for Abstract Commands","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945688","doi":"https://doi.org/10.1109/icra55743.2025.11128343"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101608094","display_name":"Seokjoon Kwon","orcid":"https://orcid.org/0009-0007-6661-3327"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seokjoon Kwon","raw_affiliation_strings":["School of Electrical Engineering, KAIST,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KAIST,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661307","display_name":"Jae-hyeon Park","orcid":"https://orcid.org/0000-0001-5201-7005"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Hyeon Park","raw_affiliation_strings":["Mechatronics Technology Research Center, Samsung Display Co.,Yongin-si,Republic of Korea,17113"],"affiliations":[{"raw_affiliation_string":"Mechatronics Technology Research Center, Samsung Display Co.,Yongin-si,Republic of Korea,17113","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003060946","display_name":"Hee-Deok Jang","orcid":"https://orcid.org/0000-0001-5153-908X"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hee-Deok Jang","raw_affiliation_strings":["School of Electrical Engineering, KAIST,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KAIST,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001908715","display_name":"Cheollae Roh","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"CheolLae Roh","raw_affiliation_strings":["Mechatronics Technology Research Center, Samsung Display Co.,Yongin-si,Republic of Korea,17113"],"affiliations":[{"raw_affiliation_string":"Mechatronics Technology Research Center, Samsung Display Co.,Yongin-si,Republic of Korea,17113","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090203902","display_name":"Dong Eui Chang","orcid":"https://orcid.org/0000-0002-6496-4189"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong Eui Chang","raw_affiliation_strings":["School of Electrical Engineering, KAIST,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KAIST,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101608094"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.3322,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.84166889,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11010","last_page":"11016"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.8276000022888184,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.8276000022888184,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10101","display_name":"Cloud Computing and Resource Management","score":0.8055999875068665,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.8025000095367432,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8356713056564331},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7486077547073364},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.4599539041519165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36864739656448364},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3576847314834595},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3384748697280884},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.16105341911315918},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09285882115364075}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8356713056564331},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7486077547073364},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.4599539041519165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36864739656448364},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3576847314834595},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3384748697280884},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.16105341911315918},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09285882115364075}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5476485004","display_name":null,"funder_award_id":"IAP2404168","funder_id":"https://openalex.org/F4320332195","funder_display_name":"Samsung"}],"funders":[{"id":"https://openalex.org/F4320332195","display_name":"Samsung","ror":"https://ror.org/04w3jy968"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2077069816","https://openalex.org/W2579549467","https://openalex.org/W2950096400","https://openalex.org/W2963037989","https://openalex.org/W2963649796","https://openalex.org/W2990129662","https://openalex.org/W4214685694","https://openalex.org/W4226236972","https://openalex.org/W4283332944","https://openalex.org/W4383108457","https://openalex.org/W4389665359","https://openalex.org/W4390874280","https://openalex.org/W4394828156","https://openalex.org/W4401413894","https://openalex.org/W4401414070","https://openalex.org/W4401414318","https://openalex.org/W4401414715","https://openalex.org/W4401414856","https://openalex.org/W4402572334","https://openalex.org/W4405787186","https://openalex.org/W4405787555"],"related_works":["https://openalex.org/W4231937131","https://openalex.org/W3188962172","https://openalex.org/W4389443772","https://openalex.org/W323219885","https://openalex.org/W2063928587","https://openalex.org/W2772917594","https://openalex.org/W1487966966","https://openalex.org/W3204019825","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,12,18,25,84,145,184,193],"large":[3,129],"language":[4,14,36,67,106],"models":[5],"(LLMs)":[6],"have":[7],"demonstrated":[8],"exceptional":[9],"reasoning":[10],"capabilities":[11],"natural":[13,35,66,105],"processing,":[15],"sparking":[16],"interest":[17],"applying":[19],"LLMs":[20],"to":[21,56,168],"task":[22,31,49,96,101,120,154,194],"planning":[23,32,97,121,155],"problems":[24],"robotics.":[26],"Most":[27],"studies":[28],"focused":[29],"on":[30,64],"for":[33,46,54,103,172],"clear":[34],"commands":[37,68],"that":[38,69,99,137],"specify":[39],"target":[40,74],"objects":[41,75,142],"and":[42,59,118,143,163],"their":[43],"locations.":[44],"However,":[45],"more":[47],"user-friendly":[48],"execution,":[50],"it":[51],"is":[52],"crucial":[53],"robots":[55],"autonomously":[57],"plan":[58,171],"carry":[60],"out":[61],"tasks":[62],"based":[63],"abstract":[65,104,165,198],"may":[70],"not":[71],"explicitly":[72],"mention":[73],"or":[76],"locations,":[77],"such":[78],"as":[79],"\u2018Put":[80],"the":[81,85,124,139,146,153,160,164,173,178,181,185],"food":[82],"ingredients":[83],"same":[86],"place.\u2019":[87],"In":[88,123],"this":[89],"study,":[90],"we":[91],"propose":[92],"an":[93,114,157],"LLM-based":[94],"autonomous":[95],"framework":[98,109,183],"generates":[100,132],"plans":[102],"commands.":[107,199],"This":[108],"consists":[110],"of":[111,180],"two":[112],"phases:":[113],"environment":[115,125,147],"recognition":[116,126],"phase":[117],"a":[119,128,133,149,170],"phase.":[122],"phase,":[127,156],"vision-language":[130],"model":[131],"hierarchical":[134],"scene":[135,161],"graph":[136,162],"captures":[138],"relationships":[140],"between":[141],"spaces":[144],"surrounding":[148],"robot":[150],"agent.":[151],"During":[152],"LLM":[158],"uses":[159],"user":[166],"command":[167],"formulate":[169],"given":[174],"task.":[175],"We":[176],"validate":[177],"effectiveness":[179],"proposed":[182],"AI2THOR":[186],"simulation":[187],"environment,":[188],"demonstrating":[189],"its":[190],"superior":[191],"performance":[192],"execution":[195],"when":[196],"handling":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}