{"id":"https://openalex.org/W4401414087","doi":"https://doi.org/10.1109/icra57147.2024.10611163","title":"AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers","display_name":"AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414087","doi":"https://doi.org/10.1109/icra57147.2024.10611163"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611163","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611163","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5115580462","display_name":"Yongchao Chen","orcid":"https://orcid.org/0000-0001-7792-0989"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yongchao Chen","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016548903","display_name":"Jacob Arkin","orcid":"https://orcid.org/0000-0002-1074-9248"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob Arkin","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000762728","display_name":"Charles Dawson","orcid":"https://orcid.org/0000-0002-8371-5313"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles Dawson","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100354733","display_name":"Yang Zhang","orcid":"https://orcid.org/0000-0002-8540-1254"},"institutions":[{"id":"https://openalex.org/I1341412227","display_name":"IBM (United States)","ror":"https://ror.org/05hh8d621","country_code":"US","type":"company","lineage":["https://openalex.org/I1341412227"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang Zhang","raw_affiliation_strings":["MIT-IBM Watson AI Lab"],"affiliations":[{"raw_affiliation_string":"MIT-IBM Watson AI Lab","institution_ids":["https://openalex.org/I1341412227"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004980809","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0002-4277-2928"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Roy","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019603699","display_name":"Chuchu Fan","orcid":"https://orcid.org/0000-0003-4671-233X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chuchu Fan","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5115580462"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":24.4532,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.9967233,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6695","last_page":"6702"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9944000244140625,"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"}},"topics":[{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9944000244140625,"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"}},{"id":"https://openalex.org/T10601","display_name":"Handwritten Text Recognition Techniques","score":0.9782000184059143,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9699000120162964,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7343629598617554},{"id":"https://openalex.org/keywords/autoregressive-model","display_name":"Autoregressive model","score":0.6579254865646362},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6343017816543579},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6184030771255493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31285467743873596},{"id":"https://openalex.org/keywords/econometrics","display_name":"Econometrics","score":0.18838083744049072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15787196159362793},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.10117590427398682},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09930223226547241}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7343629598617554},{"id":"https://openalex.org/C159877910","wikidata":"https://www.wikidata.org/wiki/Q2202883","display_name":"Autoregressive model","level":2,"score":0.6579254865646362},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6343017816543579},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6184030771255493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31285467743873596},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.18838083744049072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15787196159362793},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.10117590427398682},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09930223226547241}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611163","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611163","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1563854815","https://openalex.org/W1612453857","https://openalex.org/W1857825477","https://openalex.org/W2001006503","https://openalex.org/W2004796166","https://openalex.org/W2007820193","https://openalex.org/W2070683816","https://openalex.org/W2099217059","https://openalex.org/W2102258316","https://openalex.org/W2119709400","https://openalex.org/W2141841102","https://openalex.org/W2143936212","https://openalex.org/W2189089430","https://openalex.org/W2383103400","https://openalex.org/W2490090381","https://openalex.org/W2548961765","https://openalex.org/W2555088548","https://openalex.org/W2562465323","https://openalex.org/W2618735189","https://openalex.org/W2656928880","https://openalex.org/W2807172739","https://openalex.org/W2883331799","https://openalex.org/W3001865277","https://openalex.org/W3003205975","https://openalex.org/W3003535010","https://openalex.org/W3039732322","https://openalex.org/W3100516791","https://openalex.org/W3104605181","https://openalex.org/W3128894241","https://openalex.org/W3129254331","https://openalex.org/W3205467518","https://openalex.org/W4210600503","https://openalex.org/W4224912544","https://openalex.org/W4236670817","https://openalex.org/W4283835385","https://openalex.org/W4284699363","https://openalex.org/W4285428875","https://openalex.org/W4292779060","https://openalex.org/W4320559489","https://openalex.org/W4361021201","https://openalex.org/W4366999541","https://openalex.org/W4378510404","https://openalex.org/W4383097638","https://openalex.org/W4383108457","https://openalex.org/W4383108852","https://openalex.org/W4386320380","https://openalex.org/W4388660746","https://openalex.org/W4389519952","https://openalex.org/W4389665359","https://openalex.org/W4389667233","https://openalex.org/W4393160795","https://openalex.org/W6629631241","https://openalex.org/W6632722279","https://openalex.org/W6676848125","https://openalex.org/W6703337927","https://openalex.org/W6739646817","https://openalex.org/W6756515297","https://openalex.org/W6778883912","https://openalex.org/W6809509765","https://openalex.org/W6810640255","https://openalex.org/W6838865847","https://openalex.org/W6839928859","https://openalex.org/W6839997003","https://openalex.org/W6850072970","https://openalex.org/W6851383143","https://openalex.org/W6852136651","https://openalex.org/W6853111285"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2171218219","https://openalex.org/W1972271943","https://openalex.org/W2150410159","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W4327525404","https://openalex.org/W4287185323"],"abstract_inverted_index":{"For":[0],"effective":[1],"human-robot":[2],"interaction,":[3],"robots":[4],"need":[5],"to":[6,68,106,121,135],"understand,":[7],"plan,":[8],"and":[9,62,75,140,149,153,191],"execute":[10,69],"complex,":[11],"long-horizon":[12],"tasks":[13,83],"described":[14],"by":[15,56,131],"natural":[16,30,45,117],"language.":[17],"Recent":[18],"advances":[19],"in":[20,160,163,178],"large":[21],"language":[22,31,46,58,118],"models":[23],"(LLMs)":[24],"have":[25],"shown":[26],"promise":[27],"for":[28,36,188],"translating":[29],"into":[32,48,59,99],"robot":[33,49],"action":[34],"sequences":[35],"complex":[37,73,179],"tasks.":[38],"However,":[39],"existing":[40],"approaches":[41],"either":[42],"translate":[43],"the":[44,53,138],"directly":[47,107],"trajectories":[50],"or":[51],"factor":[52],"inference":[54,80],"process":[55],"decomposing":[57],"task":[60,109,119,124,139,164,180],"sub-goals":[61],"relying":[63],"on":[64],"a":[65,132],"motion":[66,89,141],"planner":[67],"each":[70],"sub-goal.":[71],"When":[72],"environmental":[74],"temporal":[76],"constraints":[77],"are":[78],"involved,":[79],"over":[81],"planning":[82,94],"must":[84],"be":[85,129],"performed":[86],"jointly":[87,136],"with":[88],"plans":[90],"using":[91,104,174],"traditional":[92],"task-and-motion":[93],"(TAMP)":[95],"algorithms,":[96],"making":[97],"factorization":[98],"subgoals":[100],"untenable.":[101],"Rather":[102],"than":[103],"LLMs":[105,175],"plan":[108],"sub-goals,":[110],"we":[111,146],"instead":[112],"perform":[113],"few-shot":[114],"translation":[115],"from":[116],"descriptions":[120],"an":[122],"intermediate":[123],"representation":[125],"that":[126,168],"can":[127],"then":[128],"consumed":[130],"TAMP":[133],"algorithm":[134],"solve":[137],"plan.":[142],"To":[143],"improve":[144],"translation,":[145],"automatically":[147],"detect":[148],"correct":[150],"both":[151],"syntactic":[152],"semantic":[154],"errors":[155],"via":[156],"autoregressive":[157],"re-prompting,":[158],"resulting":[159],"significant":[161],"improvements":[162],"completion.":[165],"We":[166],"show":[167],"our":[169,183],"approach":[170],"outperforms":[171],"several":[172],"methods":[173],"as":[176],"planners":[177],"domains.":[181],"See":[182],"project":[184],"website<sup":[185],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[186],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u00a7</sup>":[187],"prompts,":[189],"videos,":[190],"code.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":44},{"year":2024,"cited_by_count":21}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}