mlsanityData to 14 Oct 2026

VernaCopter: Disambiguated Natural-Language-Driven Robot via Formal Specifications

arXiv 2409.09536 ↗First posted 14 Sep 2024cs.RO cs.AIcited by 4

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Abstract (arXiv)

It has been an ambition of many to control a robot for a complex task using natural language (NL). The rise of large language models (LLMs) makes it closer to coming true. However, an LLM-powered system still suffers from the ambiguity inherent in an NL and the uncertainty brought up by LLMs. This paper proposes a novel LLM-based robot motion planner, named textitVernaCopter, with signal temporal logic (STL) specifications serving as a bridge between NL commands and specific task objectives. The rigorous and abstract nature of formal specifications allows the planner to generate high-quality and highly consistent paths to guide the motion control of a robot. Compared to a conventional NL-prompting-based planner, the proposed VernaCopter planner is more stable and reliable due to less ambiguous uncertainty. Its efficacy and advantage have been validated by two small but challenging experimental scenarios, implying its potential in designing NL-driven robots.

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 36 of its 51 references that are in the map. First posted on arXiv 14 Sep 2024.

Builds on

36 of 51 references.

References · 36

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24 more
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Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 1; 2026: 3.

4 papers.

  1. 2025PDE-Controller: LLMs for Autoformalization and Reasoning of PDEscited by 23
  2. 2026SafeGen-LLM: Enhancing Safety Generalization in Task Planning for Robotic Systemscited by 2
  3. 2026STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Modelscited by 2
  4. 2026Semantic Constraint Synthesis for Adaptive Trajectory Optimization via Large Language Modelscited by 1