mlsanityData to 7 Oct 2026

CoPAL: Corrective Planning of Robot Actions with Large Language Models

arXiv 2310.07263 ↗First posted 11 Oct 2023cs.RO cs.AIcited by 39

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Abstract (arXiv)

In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes to the field of Large Language Models (LLMs) applied to task and motion planning for robots. We propose a system architecture that orchestrates a seamless interplay between multiple cognitive levels, encompassing reasoning, planning, and motion generation. At its core lies a novel replanning strategy that handles physically grounded, logical, and semantic errors in the generated plans. We demonstrate the efficacy of the proposed feedback architecture, particularly its impact on executability, correctness, and time complexity via empirical evaluation in the context of a simulation and two intricate real-world scenarios: blocks world, barman and pizza preparation.

Key facts. Cited by 39 papers in the map (data through 7 Oct 2026). Builds on 29 of its 42 references that are in the map. First posted on arXiv 11 Oct 2023.

Builds on

29 of 42 references.

References · 29

  1. 2020Language Models are Few-Shot Learnerscited by 32,199
  2. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,302
  3. 2023PaLM-E: An Embodied Multimodal Language Modelcited by 2,037
  4. 2022Code as Policies: Language Model Programs for Embodied Controlcited by 1,172
  5. 2022Inner Monologue: Embodied Reasoning through Planning with Language Modelscited by 1,057
  6. 2022Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agentscited by 1,029
  7. 2022ProgPrompt: Generating Situated Robot Task Plans using Large Language Modelscited by 598
  8. 2023LLM+P: Empowering Large Language Models with Optimal Planning Proficiencycited by 496
  9. 2023Harnessing the Power of LLMs in Practice: A Survey on ChatGPT and Beyondcited by 409
  10. 2023Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agentscited by 396
  11. 2023On the Planning Abilities of Large Language Models : A Critical Investigationcited by 308
  12. 2023ChatGPT for Robotics: Design Principles and Model Abilitiescited by 296
17 more
  1. 2023SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planningcited by 289
  2. 2020Integrated Task and Motion Planningcited by 281
  3. 2023Large Language Models as Commonsense Knowledge for Large-Scale Task Planningcited by 231
  4. 2023Text2Motion: From Natural Language Instructions to Feasible Planscited by 223
  5. 2022Pre-Trained Language Models for Interactive Decision-Makingcited by 220
  6. 2023TidyBot: Personalized Robot Assistance with Large Language Modelscited by 219
  7. 2023Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planningcited by 204
  8. 2023RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunkingcited by 167
  9. 2023Foundation Models for Decision Making: Problems, Methods, and Opportunitiescited by 160
  10. 2023Task and Motion Planning with Large Language Models for Object Rearrangementcited by 140
  11. 2023Translating Natural Language to Planning Goals with Large-Language Modelscited by 132
  12. 2023ChatGPT Empowered Long-Step Robot Control in Various Environments: A Case Applicationcited by 48
  13. 2023Statler: State-Maintaining Language Models for Embodied Reasoningcited by 40
  14. 2023Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worldscited by 26
  15. 2022Generating Executable Action Plans with Environmentally-Aware Language Modelscited by 21
  16. 2023A Glimpse in ChatGPT Capabilities and its impact for AI researchcited by 6
  17. 2023Learning Type-Generalized Actions for Symbolic Planningcited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 16; 2025: 12; 2026: 11.

39 papers.

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  1. 2024VSP: Assessing the dual challenges of perception and reasoning in spatial planning tasks for VLMscited by 47
  2. 2024Guiding Long-Horizon Task and Motion Planning with Vision Language Modelscited by 46
  3. 2024Can We Trust Embodied Agents? Exploring Backdoor Attacks against Embodied LLM-based Decision-Making Systemscited by 23
  4. 2024Probabilistically Correct Language-based Multi-Robot Planning using Conformal Predictioncited by 18
  5. 2024AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulationcited by 15
  6. 2024Generating consistent PDDL domains with Large Language Modelscited by 14
  7. 2024Large Language Model-Enabled Multi-Agent Manufacturing Systemscited by 14
  8. 2024DAG-Plan: Generating Directed Acyclic Dependency Graphs for Dual-Arm Cooperative Planningcited by 14
  9. 2024Traffic Scene Generation from Natural Language Description for Autonomous Vehicles with Large Language Modelcited by 14
  10. 2025From Idea to CAD: A Language Model-Driven Multi-Agent System for Collaborative Designcited by 14
  11. 2024To Help or Not to Help: LLM-based Attentive Support for Human-Robot Group Interactionscited by 10
  12. 2024Tulip Agent -- Enabling LLM-Based Agents to Solve Tasks Using Large Tool Librariescited by 7
27 more
  1. 2024AlignBot: Aligning VLM-powered Customized Task Planning with User Reminders Through Fine-Tuning for Household Robotscited by 7
  2. 2024VeriGraph: Scene Graphs for Execution Verifiable Robot Planningcited by 7
  3. 2024DaDu-E: Rethinking the Role of Large Language Model in Robotic Computing Pipelinecited by 5
  4. 2026What Breaks Embodied AI Security:LLM Vulnerabilities, CPS Flaws,or Something Else?cited by 5
  5. 2026TAPE: Tool-Guided Adaptive Planning and Constrained Execution in Language Model Agentscited by 4
  6. 2024Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skillscited by 2
  7. 2025Self-Corrective Task Planning by Inverse Prompting with Large Language Modelscited by 2
  8. 2025RAIDER: Tool-Equipped Large Language Model Agent for Robotic Action Issue Detection, Explanation and Recoverycited by 2
  9. 2025Achieving Scalable Robot Autonomy via neurosymbolic planning using lightweight local LLMcited by 2
  10. 2025Context Matters! Relaxing Goals with LLMs for Feasible 3D Scene Planningcited by 2
  11. 2025RoboPARA: Dual-Arm Robot Planning with Parallel Allocation and Recomposition Across Taskscited by 1
  12. 2025An LLM-powered Natural-to-Robotic Language Translation Framework with Correctness Guaranteescited by 1
  13. 2025Information Seeking for Robust Decision Making under Partial Observabilitycited by 1
  14. 2026MALLVI: A Multi-Agent Framework for Integrated Generalized Robotics Manipulationcited by 1
  15. 2024HyperGraphOS: A Meta Operating System for Science and Engineeringcited by 0
  16. 2025Perceiving, Reasoning, Adapting: A Dual-Layer Framework for VLM-Guided Precision Robotic Manipulationcited by 0
  17. 2025Leveraging Pre-trained Large Language Models with Refined Prompting for Online Task and Motion Planningcited by 0
  18. 2025CARMA: Context-Aware Situational Grounding of Human-Robot Group Interactions by Combining Vision-Language Models with Object and Action Recognitioncited by 0
  19. 2025LEO-RobotAgent: A General-purpose Robotic Agent for Language-driven Embodied Operatorcited by 0
  20. 2026MMP-A*: Multimodal Perception Enhanced Incremental Heuristic Search on Path Planningcited by 0
  21. 2026A Hierarchical Error-Corrective Graph Framework for Autonomous Agents with LLM-Based Action Generationcited by 0
  22. 2026One-to-Two Acting: A Novel Framework for Single-arm Agent Action Expansion to Dual Armscited by 0
  23. 2026APIVOT: Adaptive Planning with Interleaved Vision-Language Thoughtscited by 0
  24. 2026SPINE: Bridging the Cyber-Physical Gap with Agentic AIcited by 0
  25. 2026Autonomous VR-Based Risk Detection for Situational Awareness in Dangerous Settingscited by 0
  26. 2026Resilience Matters for Embodied Agents System: New Metrics, Systematic Evaluation, and Optimizationcited by 0
  27. 2026Bridging Thought and Action: Taming Long-Horizon Instability in Open-Source LLM Agents with a MetaTool-Enhanced ROS Frameworkcited by 0