# Integrating Disambiguation and User Preferences into Large Language Models for Robot Motion Planning

arXiv: https://arxiv.org/abs/2404.14547 · HTML: https://mlsanity.com/paper/2404.14547/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 24 of its 31 references that are in the map.
- First posted on arXiv 22 Apr 2024.

## Builds on (most cited first, 24 of 24)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [PaLM: Scaling Language Modeling with Pathways](https://mlsanity.com/paper/2204.02311/) (2022)
- [On the Opportunities and Risks of Foundation Models](https://mlsanity.com/paper/2108.07258/) (2021)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [When Not to Trust Language Models: Investigating Effectiveness of Parametric and Non-Parametric Memories](https://mlsanity.com/paper/2212.10511/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Just Ask for Calibration: Strategies for Eliciting Calibrated Confidence Scores from Language Models Fine-Tuned with Human Feedback](https://mlsanity.com/paper/2305.14975/) (2023)
- [How Language Model Hallucinations Can Snowball](https://mlsanity.com/paper/2305.13534/) (2023)
- [Text2Motion: From Natural Language Instructions to Feasible Plans](https://mlsanity.com/paper/2303.12153/) (2023)
- [TidyBot: Personalized Robot Assistance with Large Language Models](https://mlsanity.com/paper/2305.05658/) (2023)
- [Language Conditioned Imitation Learning over Unstructured Data](https://mlsanity.com/paper/2005.07648/) (2020)
- [CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation](https://mlsanity.com/paper/2203.10421/) (2022)
- [Improving Vision-and-Language Navigation with Image-Text Pairs from the Web](https://mlsanity.com/paper/2004.14973/) (2020)
- [Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model](https://mlsanity.com/paper/2305.11176/) (2023)
- [NL2TL: Transforming Natural Languages to Temporal Logics using Large Language Models](https://mlsanity.com/paper/2305.07766/) (2023)
- [Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification](https://mlsanity.com/paper/2303.08006/) (2023)
- [CLARA: Classifying and Disambiguating User Commands for Reliable Interactive Robotic Agents](https://mlsanity.com/paper/2306.10376/) (2023)
- [Cook2LTL: Translating Cooking Recipes to LTL Formulae using Large Language Models](https://mlsanity.com/paper/2310.00163/) (2023)
- [Temporal Logic Motion Planning with Convex Optimization via Graphs of Convex Sets](https://mlsanity.com/paper/2301.07773/) (2023)
- [Planning with State Abstractions for Non-Markovian Task Specifications](https://mlsanity.com/paper/1905.12096/) (2019)

## Built on by (most cited first, 1 of 1)

- [Proactive Rejection and Grounded Execution: A Dual-Stage Intent Analysis Paradigm for Safe and Efficient AIoT Smart Homes](https://mlsanity.com/paper/2603.16207/) (2026)

## Abstract (arXiv)

This paper presents a framework that can interpret humans' navigation commands containing temporal elements and directly translate their natural language instructions into robot motion planning. Central to our framework is utilizing Large Language Models (LLMs). To enhance the reliability of LLMs in the framework and improve user experience, we propose methods to resolve the ambiguity in natural language instructions and capture user preferences. The process begins with an ambiguity classifier, identifying potential uncertainties in the instructions. Ambiguous statements trigger a GPT-4-based mechanism that generates clarifying questions, incorporating user responses for disambiguation. Also, the framework assesses and records user preferences for non-ambiguous instructions, enhancing future interactions. The last part of this process is the translation of disambiguated instructions into a robot motion plan using Linear Temporal Logic. This paper details the development of this framework and the evaluation of its performance in various test scenarios.