Modular construction, involving off-site prefabrication and on-site assembly, offers significant advantages but presents complex coordination challenges for robotic automation. Effective task allocation is critical for leveraging multi-agent systems (MAS) in these structured environments. This paper introduces the Hybrid Voting-Based Task Assignment (HVBTA) framework, a novel approach to optimizing collaboration between heterogeneous multi-agent construction teams. Inspired by human reasoning in task delegation, HVBTA uniquely integrates multiple voting mechanisms with the capabilities of a Large Language Model (LLM) for nuanced suitability assessment between agent capabilities and task requirements. The framework operates by assigning Capability Profiles to agents and detailed requirement lists called Task Descriptions to construction tasks, subsequently generating a quantitative Suitability Matrix. Six distinct voting methods, augmented by a pre-trained LLM, analyze this matrix to robustly identify the optimal agent for each task. Conflict-Based Search (CBS) is integrated for decentralized, collision-free path planning, ensuring efficient and safe spatio-temporal coordination of the robotic team during assembly operations. HVBTA enables efficient, conflict-free assignment and coordination, facilitating potentially faster and more accurate modular assembly. Current work is evaluating HVBTA's performance across various simulated construction scenarios involving diverse robotic platforms and task complexities. While designed as a generalizable framework for any domain with clearly definable tasks and capabilities, HVBTA will be particularly effective for addressing the demanding coordination requirements of multi-agent collaborative robotics in modular construction due to the predetermined construction planning involved.
Real-life textual planning tasks such as meeting scheduling have posed much challenge to LLMs especially when the complexity is high. While previous work primarily studied auto-regressive generation of plans with closed-source models, we systematically evaluate both closed- and open-source models, including those that scales output length with complexity during inference, in generating programs, which are executed to output the plan. We consider not only standard Python code, but also the code to a constraint satisfaction problem solver. Despite the algorithmic nature of the task, we show that programming often but not always outperforms planning. Our detailed error analysis also indicates a lack of robustness and efficiency in the generated code that hinders generalization.
In planning, using LLMs not to predict plans but to formalize an environment into the Planning Domain Definition Language (PDDL) has been shown to greatly improve performance and control. While most work focused on fully observable environments, we tackle the more realistic and challenging partially observable environments where existing methods are incapacitated by the lack of complete information. We propose PDDLego+, a framework to iteratively formalize, plan, grow, and refine PDDL representations in a zero-shot manner, without needing access to any existing trajectories. On two textual simulated environments, we show that PDDLego+ not only achieves superior performance, but also shows robustness against problem complexity. We also show that the domain knowledge captured after a successful trial is interpretable and benefits future tasks.
We propose SpatialLLM, a novel approach advancing spatial intelligence tasks in complex urban scenes. Unlike previous methods requiring geographic analysis tools or domain expertise, SpatialLLM is a unified language model directly addressing various spatial intelligence tasks without any training, fine-tuning, or expert intervention. The core of SpatialLLM lies in constructing detailed and structured scene descriptions from raw spatial data to prompt pre-trained LLMs for scene-based analysis. Extensive experiments show that, with our designs, pretrained LLMs can accurately perceive spatial distribution information and enable zero-shot execution of advanced spatial intelligence tasks, including urban planning, ecological analysis, traffic management, etc. We argue that multi-field knowledge, context length, and reasoning ability are key factors influencing LLM performances in urban analysis. We hope that SpatialLLM will provide a novel viable perspective for urban intelligent analysis and management. The code and dataset are available at https://github.com/WHU-USI3DV/SpatialLLM.
Large language models (LLMs) excel at rapid generation of text and multimodal content, yet they falter on transaction-style planning that demands ACID-like guarantees and real-time disruption recovery. We present Adaptive LLM Agent System (ALAS), a framework that tackles four fundamental LLM deficits: (i) absence of self-verification, (ii) context erosion, (iii) next-token myopia, and (iv) lack of persistent state. ALAS decomposes each plan into role-specialized agents, equips them with automatic state tracking, and coordinates them through a lightweight protocol. When disruptions arise, agents apply history-aware local compensation, avoiding costly global replanning and containing cascade effects. On real-world, large-scale job-shop scheduling benchmarks, ALAS sets new best results for static sequential planning and excels in dynamic reactive scenarios with unexpected disruptions. These gains show that principled modularization plus targeted compensation can unlock scalable and resilient planning with LLMs.
Assessing the capacity of Large Language Models (LLMs) to plan and reason within the constraints of interactive environments is crucial for developing capable AI agents. We introduce $\textbf{LLM-BabyBench}$, a new benchmark suite designed specifically for this purpose. Built upon a textual adaptation of the procedurally generated BabyAI grid world, this suite evaluates LLMs on three fundamental aspects of grounded intelligence: (1) predicting the consequences of actions on the environment state ($\textbf{Predict}$ task), (2) generating sequences of low-level actions to achieve specified objectives ($\textbf{Plan}$ task), and (3) decomposing high-level instructions into coherent subgoal sequences ($\textbf{Decompose}$ task). We detail the methodology for generating the three corresponding datasets ($\texttt{LLM-BabyBench-Predict}$, $\texttt{-Plan}$, $\texttt{-Decompose}$) by extracting structured information from an expert agent operating within the text-based environment. Furthermore, we provide a standardized evaluation harness and metrics, including environment interaction for validating generated plans, to facilitate reproducible assessment of diverse LLMs. Initial baseline results highlight the challenges posed by these grounded reasoning tasks. The benchmark suite, datasets, data generation code, and evaluation code are made publicly available ($\href{https://github.com/choukrani/llm-babybench}{\text{GitHub}}$, $\href{https://huggingface.co/datasets/salem-mbzuai/LLM-BabyBench}{\text{HuggingFace}}$).
Multi-step planning has been widely employed to enhance the performance of large language models (LLMs) on downstream natural language processing (NLP) tasks, which decomposes the original task into multiple subtasks and guide LLMs to solve them sequentially without additional training. When addressing task instances, existing methods either preset the order of steps or attempt multiple paths at each step. However, these methods overlook instances' linguistic features and rely on the intrinsic planning capabilities of LLMs to evaluate intermediate feedback and then select subtasks, resulting in suboptimal outcomes. To better solve multi-step NLP tasks with LLMs, in this paper we propose a Reinforcement Learning enhanced Adaptive Planning framework (RLAP). In our framework, we model an NLP task as a Markov decision process (MDP) and employ an LLM directly into the environment. In particular, a lightweight Actor model is trained to estimate Q-values for natural language sequences consisting of states and actions through reinforcement learning. Therefore, during sequential planning, the linguistic features of each sequence in the MDP can be taken into account, and the Actor model interacts with the LLM to determine the optimal order of subtasks for each task instance. We apply RLAP on three different types of NLP tasks and conduct extensive experiments on multiple datasets to verify RLAP's effectiveness and robustness.
We introduce ChatHTN, a Hierarchical Task Network (HTN) planner that combines symbolic HTN planning techniques with queries to ChatGPT to approximate solutions in the form of task decompositions. The resulting hierarchies interleave task decompositions generated by symbolic HTN planning with those generated by ChatGPT. Despite the approximate nature of the results generates by ChatGPT, ChatHTN is provably sound; any plan it generates correctly achieves the input tasks. We demonstrate this property with an open-source implementation of our system.
Multi-hop question answering (QA) involves finding multiple relevant passages and performing step-by-step reasoning to answer complex questions. Previous works on multi-hop QA employ specific methods from different modeling perspectives based on large language models (LLMs), regardless of the question types. In this paper, we first conduct an in-depth analysis of public multi-hop QA benchmarks, dividing the questions into four types and evaluating five types of cutting-edge methods for multi-hop QA: Chain-of-Thought (CoT), Single-step, Iterative-step, Sub-step, and Adaptive-step. We find that different types of multi-hop questions have varying degrees of sensitivity to different types of methods. Thus, we propose a Bi-levEL muLti-agEnt reasoning (BELLE) framework to address multi-hop QA by specifically focusing on the correspondence between question types and methods, where each type of method is regarded as an ''operator'' by prompting LLMs differently. The first level of BELLE includes multiple agents that debate to obtain an executive plan of combined ''operators'' to address the multi-hop QA task comprehensively. During the debate, in addition to the basic roles of affirmative debater, negative debater, and judge, at the second level, we further leverage fast and slow debaters to monitor whether changes in viewpoints are reasonable. Extensive experiments demonstrate that BELLE significantly outperforms strong baselines in various datasets. Additionally, the model consumption of BELLE is higher cost-effectiveness than that of single models in more complex multi-hop QA scenarios.
Terms of Service (ToS) documents are often lengthy and written in complex legal language, making them difficult for users to read and understand. To address this challenge, we propose Terminators, a modular agentic framework that leverages large language models (LLMs) to parse and audit ToS documents. Rather than treating ToS understanding as a black-box summarization problem, Terminators breaks the task down to three interpretable steps: term extraction, verification, and accountability planning. We demonstrate the effectiveness of our method on the OpenAI ToS using GPT-4o, highlighting strategies to minimize hallucinations and maximize auditability. Our results suggest that structured, agent-based LLM workflows can enhance both the usability and enforceability of complex legal documents. By translating opaque terms into actionable, verifiable components, Terminators promotes ethical use of web content by enabling greater transparency, empowering users to understand their digital rights, and supporting automated policy audits for regulatory or civic oversight.
Understanding and predicting urban dynamics is crucial for managing transportation systems, optimizing urban planning, and enhancing public services. While neural network-based approaches have achieved success, they often rely on task-specific architectures and large volumes of data, limiting their ability to generalize across diverse urban scenarios. Meanwhile, Large Language Models (LLMs) offer strong reasoning and generalization capabilities, yet their application to spatial-temporal urban dynamics remains underexplored. Existing LLM-based methods struggle to effectively integrate multifaceted spatial-temporal data and fail to address distributional shifts between training and testing data, limiting their predictive reliability in real-world applications. To bridge this gap, we propose UrbanMind, a novel spatial-temporal LLM framework for multifaceted urban dynamics prediction that ensures both accurate forecasting and robust generalization. At its core, UrbanMind introduces Muffin-MAE, a multifaceted fusion masked autoencoder with specialized masking strategies that capture intricate spatial-temporal dependencies and intercorrelations among multifaceted urban dynamics. Additionally, we design a semantic-aware prompting and fine-tuning strategy that encodes spatial-temporal contextual details into prompts, enhancing LLMs' ability to reason over spatial-temporal patterns. To further improve generalization, we introduce a test time adaptation mechanism with a test data reconstructor, enabling UrbanMind to dynamically adjust to unseen test data by reconstructing LLM-generated embeddings. Extensive experiments on real-world urban datasets across multiple cities demonstrate that UrbanMind consistently outperforms state-of-the-art baselines, achieving high accuracy and robust generalization, even in zero-shot settings.
Existing research on large language models (LLMs) for PowerPoint predominantly focuses on slide generation, overlooking the common yet tedious task of editing existing slides. We introduce Talk-to-Your-Slides, an LLM-powered agent that directly edits slides within active PowerPoint sessions through COM communication. Our system employs a two-level approach: (1) high-level processing where an LLM agent interprets instructions and formulates editing plans, and (2) low-level execution where Python scripts directly manipulate PowerPoint objects. Unlike previous methods relying on predefined operations, our approach enables more flexible and contextually-aware editing. To facilitate evaluation, we present TSBench, a human-annotated dataset of 379 diverse editing instructions with corresponding slide variations. Experimental results demonstrate that Talk-to-Your-Slides significantly outperforms baseline methods in execution success rate, instruction fidelity, and editing efficiency. Our code and benchmark are available at https://anonymous.4open.science/r/talk-to-your-slides/
Recent advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have substantially enhanced machine reasoning across diverse tasks. However, these models predominantly rely on pure text as the medium for both expressing and structuring reasoning, even when visual information is present. In this work, we argue that language may not always be the most natural or effective modality for reasoning, particularly in tasks involving spatial and geometrical information. Motivated by this, we propose a new paradigm, Visual Planning, which enables planning through purely visual representations, independent of text. In this paradigm, planning is executed via sequences of images that encode step-by-step inference in the visual domain, akin to how humans sketch or visualize future actions. We introduce a novel reinforcement learning framework, Visual Planning via Reinforcement Learning (VPRL), empowered by GRPO for post-training large vision models, leading to substantial improvements in planning in a selection of representative visual navigation tasks, FrozenLake, Maze, and MiniBehavior. Our visual planning paradigm outperforms all other planning variants that conduct reasoning in the text-only space. Our results establish Visual Planning as a viable and promising alternative to language-based reasoning, opening new avenues for tasks that benefit from intuitive, image-based inference.
Motivated by Smart Manufacturing and Industry 4.0, we introduce a framework for synthesizing Abstraction-Based Controller Design (ABCD) for reach-avoid problems from Natural Language (NL) specifications using Large Language Models (LLMs). A Code Agent interprets an NL description of the control problem and translates it into a formal language interpretable by state-of-the-art symbolic control software, while a Checker Agent verifies the correctness of the generated code and enhances safety by identifying specification mismatches. Evaluations show that the system handles linguistic variability and improves robustness over direct planning with LLMs. The proposed approach lowers the barrier to formal control synthesis by enabling intuitive, NL-based task definition while maintaining safety guarantees through automated validation.
RAG can enhance the performance of LLMs on knowledge-intensive tasks. Various RAG paradigms, including vanilla, planning-based, and iterative RAG, are built upon 2 cores: the retriever, which should robustly select relevant documents across complex queries, and the generator, which should faithfully synthesize responses. However, existing retrievers rely heavily on public knowledge and struggle with queries of varying logical complexity and clue completeness, while generators frequently face fidelity problems. In this work, we introduce RAGSynth, a framework that includes a data construction modeling and a corresponding synthetic data generation implementation, designed to optimize retriever robustness and generator fidelity. Additionally, we present SynthBench, a benchmark encompassing 8 domain-specific documents across 4 domains, featuring diverse query complexities, clue completeness, and fine-grained citation granularity. Leveraging RAGSynth, we generate a large-scale synthetic dataset, including single and multi-hop. Extensive experiments demonstrate that the synthetic data significantly improves the robustness of the retrievers and the fidelity of the generators. Additional evaluations confirm that RAGSynth can also generalize well across different domains. By integrating the optimized retrievers into various RAG paradigms, we consistently observe enhanced RAG system performance. We have open-sourced the implementation on https://github.com/EachSheep/RAGSynth.
Spatiotemporal relationships are critical in data science, as many prediction and reasoning tasks require analysis across both spatial and temporal dimensions--for instance, navigating an unfamiliar city involves planning itineraries that sequence locations and timing cultural experiences. However, existing Question-Answering (QA) datasets lack sufficient spatiotemporal-sensitive questions, making them inadequate benchmarks for evaluating models' spatiotemporal reasoning capabilities. To address this gap, we introduce POI-QA, a novel spatiotemporal-sensitive QA dataset centered on Point of Interest (POI), constructed through three key steps: mining and aligning open-source vehicle trajectory data from GAIA with high-precision geographic POI data, rigorous manual validation of noisy spatiotemporal facts, and generating bilingual (Chinese/English) QA pairs that reflect human-understandable spatiotemporal reasoning tasks. Our dataset challenges models to parse complex spatiotemporal dependencies, and evaluations of state-of-the-art multilingual LLMs (e.g., Qwen2.5-7B, Llama3.1-8B) reveal stark limitations: even the top-performing model (Qwen2.5-7B fine-tuned with RAG+LoRA) achieves a top 10 Hit Ratio (HR@10) of only 0.41 on the easiest task, far below human performance at 0.56. This underscores persistent weaknesses in LLMs' ability to perform consistent spatiotemporal reasoning, while highlighting POI-QA as a robust benchmark to advance algorithms sensitive to spatiotemporal dynamics. The dataset is publicly available at https://www.kaggle.com/ds/7394666.
Planning trips is a cognitively intensive task involving conflicting user preferences, dynamic external information, and multi-step temporal-spatial optimization. Traditional platforms often fall short - they provide static results, lack contextual adaptation, and fail to support real-time interaction or intent refinement. Our approach, Vaiage, addresses these challenges through a graph-structured multi-agent framework built around large language models (LLMs) that serve as both goal-conditioned recommenders and sequential planners. LLMs infer user intent, suggest personalized destinations and activities, and synthesize itineraries that align with contextual constraints such as budget, timing, group size, and weather. Through natural language interaction, structured tool use, and map-based feedback loops, Vaiage enables adaptive, explainable, and end-to-end travel planning grounded in both symbolic reasoning and conversational understanding. To evaluate Vaiage, we conducted human-in-the-loop experiments using rubric-based GPT-4 assessments and qualitative feedback. The full system achieved an average score of 8.5 out of 10, outperforming the no-strategy (7.2) and no-external-API (6.8) variants, particularly in feasibility. Qualitative analysis indicated that agent coordination - especially the Strategy and Information Agents - significantly improved itinerary quality by optimizing time use and integrating real-time context. These results demonstrate the effectiveness of combining LLM reasoning with symbolic agent coordination in open-ended, real-world planning tasks.
Robot task planning decomposes human instructions into executable action sequences that enable robots to complete a series of complex tasks. Although recent large language model (LLM)-based task planners achieve amazing performance, they assume that human instructions are clear and straightforward. However, real-world users are not experts, and their instructions to robots often contain significant vagueness. Linguists suggest that such vagueness frequently arises from referring expressions (REs), whose meanings depend heavily on dialogue context and environment. This vagueness is even more prevalent among the elderly and children, who robots should serve more. This paper studies how such vagueness in REs within human instructions affects LLM-based robot task planning and how to overcome this issue. To this end, we propose the first robot task planning benchmark with vague REs (REI-Bench), where we discover that the vagueness of REs can severely degrade robot planning performance, leading to success rate drops of up to 77.9%. We also observe that most failure cases stem from missing objects in planners. To mitigate the REs issue, we propose a simple yet effective approach: task-oriented context cognition, which generates clear instructions for robots, achieving state-of-the-art performance compared to aware prompt and chains of thought. This work contributes to the research community of human-robot interaction (HRI) by making robot task planning more practical, particularly for non-expert users, e.g., the elderly and children.
Learning how the world works is central to building AI agents that can adapt to complex environments. Traditional world models based on deep learning demand vast amounts of training data, and do not flexibly update their knowledge from sparse observations. Recent advances in program synthesis using Large Language Models (LLMs) give an alternate approach which learns world models represented as source code, supporting strong generalization from little data. To date, application of program-structured world models remains limited to natural language and grid-world domains. We introduce a novel program synthesis method for effectively modeling complex, non-gridworld domains by representing a world model as an exponentially-weighted product of programmatic experts (PoE-World) synthesized by LLMs. We show that this approach can learn complex, stochastic world models from just a few observations. We evaluate the learned world models by embedding them in a model-based planning agent, demonstrating efficient performance and generalization to unseen levels on Atari's Pong and Montezuma's Revenge. We release our code and display the learned world models and videos of the agent's gameplay at https://topwasu.github.io/poe-world.
We propose an iterative programmatic planning (IPP) framework for solving grid-based tasks by synthesizing interpretable agent policies expressed in code using large language models (LLMs). Instead of relying on traditional search or reinforcement learning, our approach uses code generation as policy synthesis, where the LLM outputs executable programs that map environment states to action sequences. Our proposed architecture incorporates several prompting strategies, including direct code generation, pseudocode-conditioned refinement, and curriculum-based prompting, but also includes an iterative refinement mechanism that updates code based on task performance feedback. We evaluate our approach using six leading LLMs and two challenging grid-based benchmarks (GRASP and MiniGrid). Our IPP framework demonstrates improvements over direct code generation ranging from 10\% to as much as 10x across five of the six models and establishes a new state-of-the-art result for GRASP. IPP is found to significantly outperform direct elicitation of a solution from GPT-o3-mini (by 63\% on MiniGrid to 116\% on GRASP), demonstrating the viability of the overall approach. Computational costs of all code generation approaches are similar. While code generation has a higher initial prompting cost compared to direct solution elicitation (\$0.08 per task vs. \$0.002 per instance for GPT-o3-mini), the code can be reused for any number of instances, making the amortized cost significantly lower (by 400x on GPT-o3-mini across the complete GRASP benchmark).
Responsible AI (RAI) efforts increasingly emphasize the importance of addressing potential harms early in the AI development lifecycle through social-technical lenses. However, in cross-functional industry teams, this work is often stalled by a persistent knowledge handoff challenge: the difficulty of transferring high-level, early-stage technical design rationales from technical experts to non-technical or user-facing roles for ethical evaluation and harm identification. Through literature review and a co-design study with 8 practitioners, we unpack how this challenge manifests -- technical design choices are rarely handed off in ways that support meaningful engagement by non-technical roles; collaborative workflows lack shared, visual structures to support mutual understanding; and non-technical practitioners are left without scaffolds for systematic harm evaluation. Existing tools like JIRA or Google Docs, while useful for product tracking, are ill-suited for supporting joint harm identification across roles, often requiring significant extra effort to align understanding. To address this, we developed AI LEGO, a web-based prototype that supports cross-functional AI practitioners in effectively facilitating knowledge handoff and identifying harmful design choices in the early design stages. Technical roles use interactive blocks to draft development plans, while non-technical roles engage with those blocks through stage-specific checklists and LLM-driven persona simulations to surface potential harms. In a study with 18 cross-functional practitioners, AI LEGO increased the volume and likelihood of harms identified compared to baseline worksheets. Participants found that its modular structure and persona prompts made harm identification more accessible, fostering clearer and more collaborative RAI practices in early design.
The ReAct (Reasoning + Action) capability in large language models (LLMs) has become the foundation of modern agentic systems. Recent LLMs, such as DeepSeek-R1 and OpenAI o1/o3, exemplify this by emphasizing reasoning through the generation of ample intermediate tokens, which help build a strong premise before producing the final output tokens. In this paper, we introduce Pre-Act, a novel approach that enhances the agent's performance by creating a multi-step execution plan along with the detailed reasoning for the given user input. This plan incrementally incorporates previous steps and tool outputs, refining itself after each step execution until the final response is obtained. Our approach is applicable to both conversational and non-conversational agents. To measure the performance of task-oriented agents comprehensively, we propose a two-level evaluation framework: (1) turn level and (2) end-to-end. Our turn-level evaluation, averaged across five models, shows that our approach, Pre-Act, outperforms ReAct by 70% in Action Recall on the Almita dataset. While this approach is effective for larger models, smaller models crucial for practical applications, where latency and cost are key constraints, often struggle with complex reasoning tasks required for agentic systems. To address this limitation, we fine-tune relatively small models such as Llama 3.1 (8B & 70B) using the proposed Pre-Act approach. Our experiments show that the fine-tuned 70B model outperforms GPT-4, achieving a 69.5% improvement in action accuracy (turn-level) and a 28% improvement in goal completion rate (end-to-end) on the Almita (out-of-domain) dataset.
The proliferation of Large Language Model (LLM)-based Graphical User Interface (GUI) agents in web browsing scenarios present complex unintended consequences (UCs). This paper characterizes three UCs from three perspectives: phenomena, influence and mitigation, drawing on social media analysis (N=221 posts) and semi-structured interviews (N=14). Key phenomenon for UCs include agents' deficiencies in comprehending instructions and planning tasks, challenges in executing accurate GUI interactions and adapting to dynamic interfaces, the generation of unreliable or misaligned outputs, and shortcomings in error handling and feedback processing. These phenomena manifest as influences from unanticipated actions and user frustration, to privacy violations and security vulnerabilities, and further to eroded trust and wider ethical concerns. Our analysis also identifies user-initiated mitigation, such as technical adjustments and manual oversight, and provides implications for designing future LLM-based GUI agents that are robust, user-centric, and transparent, fostering a crucial balance between automation and human oversight.
Large Language Models (LLMs) have shown impressive performance across natural language tasks, but their ability to forecast violent conflict remains underexplored. We investigate whether LLMs possess meaningful parametric knowledge-encoded in their pretrained weights-to predict conflict escalation and fatalities without external data. This is critical for early warning systems, humanitarian planning, and policy-making. We compare this parametric knowledge with non-parametric capabilities, where LLMs access structured and unstructured context from conflict datasets (e.g., ACLED, GDELT) and recent news reports via Retrieval-Augmented Generation (RAG). Incorporating external information could enhance model performance by providing up-to-date context otherwise missing from pretrained weights. Our two-part evaluation framework spans 2020-2024 across conflict-prone regions in the Horn of Africa and the Middle East. In the parametric setting, LLMs predict conflict trends and fatalities relying only on pretrained knowledge. In the non-parametric setting, models receive summaries of recent conflict events, indicators, and geopolitical developments. We compare predicted conflict trend labels (e.g., Escalate, Stable Conflict, De-escalate, Peace) and fatalities against historical data. Our findings highlight the strengths and limitations of LLMs for conflict forecasting and the benefits of augmenting them with structured external knowledge.
The integration of foundation models (FMs) into robotics has enabled robots to understand natural language and reason about the semantics in their environments. However, existing FM-enabled robots primary operate in closed-world settings, where the robot is given a full prior map or has a full view of its workspace. This paper addresses the deployment of FM-enabled robots in the field, where missions often require a robot to operate in large-scale and unstructured environments. To effectively accomplish these missions, robots must actively explore their environments, navigate obstacle-cluttered terrain, handle unexpected sensor inputs, and operate with compute constraints. We discuss recent deployments of SPINE, our LLM-enabled autonomy framework, in field robotic settings. To the best of our knowledge, we present the first demonstration of large-scale LLM-enabled robot planning in unstructured environments with several kilometers of missions. SPINE is agnostic to a particular LLM, which allows us to distill small language models capable of running onboard size, weight and power (SWaP) limited platforms. Via preliminary model distillation work, we then present the first language-driven UAV planner using on-device language models. We conclude our paper by proposing several promising directions for future research.
Large Language Models (LLMs) show growing promise in autonomous driving by reasoning over complex traffic scenarios to generate path plans. However, their tendencies toward overconfidence, and hallucinations raise critical safety concerns. We introduce SafePath, a modular framework that augments LLM-based path planning with formal safety guarantees using conformal prediction. SafePath operates in three stages. In the first stage, we use an LLM that generates a set of diverse candidate paths, exploring possible trajectories based on agent behaviors and environmental cues. In the second stage, SafePath filters out high-risk trajectories while guaranteeing that at least one safe option is included with a user-defined probability, through a multiple-choice question-answering formulation that integrates conformal prediction. In the final stage, our approach selects the path with the lowest expected collision risk when uncertainty is low or delegates control to a human when uncertainty is high. We theoretically prove that SafePath guarantees a safe trajectory with a user-defined probability, and we show how its human delegation rate can be tuned to balance autonomy and safety. Extensive experiments on nuScenes and Highway-env show that SafePath reduces planning uncertainty by 77\% and collision rates by up to 70\%, demonstrating effectiveness in making LLM-driven path planning more safer.
Generative Artificial Intelligence (GenAI) constitutes a transformative technological wave that reconfigures industries through its unparalleled capabilities for content creation, reasoning, planning, and multimodal understanding. This revolutionary force offers the most promising path yet toward solving one of engineering's grandest challenges: achieving reliable, fully autonomous driving, particularly the pursuit of Level 5 autonomy. This survey delivers a comprehensive and critical synthesis of the emerging role of GenAI across the autonomous driving stack. We begin by distilling the principles and trade-offs of modern generative modeling, encompassing VAEs, GANs, Diffusion Models, and Large Language Models (LLMs). We then map their frontier applications in image, LiDAR, trajectory, occupancy, video generation as well as LLM-guided reasoning and decision making. We categorize practical applications, such as synthetic data workflows, end-to-end driving strategies, high-fidelity digital twin systems, smart transportation networks, and cross-domain transfer to embodied AI. We identify key obstacles and possibilities such as comprehensive generalization across rare cases, evaluation and safety checks, budget-limited implementation, regulatory compliance, ethical concerns, and environmental effects, while proposing research plans across theoretical assurances, trust metrics, transport integration, and socio-technical influence. By unifying these threads, the survey provides a forward-looking reference for researchers, engineers, and policymakers navigating the convergence of generative AI and advanced autonomous mobility. An actively maintained repository of cited works is available at https://github.com/taco-group/GenAI4AD.
Generative AI can help small business owners automate tasks, increase efficiency, and improve their bottom line. However, despite the seemingly intuitive design of systems like ChatGPT, significant barriers remain for those less comfortable with technology. To address these disparities, prior work highlights accessory skills -- beyond prompt engineering -- users must master to successfully adopt generative AI including keyboard shortcuts, editing skills, file conversions, and browser literacy. Building on a design workshop series and 15 interviews with small businesses, we introduce BizChat, a large language model (LLM)-powered web application that helps business owners across digital skills levels write their business plan -- an essential but often neglected document. To do so, BizChat's interface embodies three design considerations inspired by learning sciences: ensuring accessibility to users with less digital skills while maintaining extensibility to power users ("low-floor-high-ceiling"), providing in situ micro-learning to support entrepreneurial education ("just-in-time learning"), and framing interaction around business activities ("contextualized technology introduction"). We conclude with plans for a future BizChat deployment.
PDDL-based symbolic task planning remains pivotal for robot autonomy yet struggles with dynamic human-robot collaboration due to scalability, re-planning demands, and delayed plan availability. Although a few neurosymbolic frameworks have previously leveraged LLMs such as GPT-3 to address these challenges, reliance on closed-source, remote models with limited context introduced critical constraints: third-party dependency, inconsistent response times, restricted plan length and complexity, and multi-domain scalability issues. We present Gideon, a novel framework that enables the transition to modern, smaller, local LLMs with extended context length. Gideon integrates a novel problem generator to systematically generate large-scale datasets of realistic domain-problem-plan tuples for any domain, and adapts neurosymbolic planning for local LLMs, enabling on-device execution and extended context for multi-domain support. Preliminary experiments in single-domain scenarios performed on Qwen-2.5 1.5B and trained on 8k-32k samples, demonstrate a valid plan percentage of 66.1% (32k model) and show that the figure can be further scaled through additional data. Multi-domain tests on 16k samples yield an even higher 70.6% planning validity rate, proving extensibility across domains and signaling that data variety can have a positive effect on learning efficiency. Although long-horizon planning and reduced model size make Gideon training much less efficient than baseline models based on larger LLMs, the results are still significant considering that the trained model is about 120x smaller than baseline and that significant advantages can be achieved in inference efficiency, scalability, and multi-domain adaptability, all critical factors in human-robot collaboration. Training inefficiency can be mitigated by Gideon's streamlined data generation pipeline.
Efficiently modeling and exploiting opponents is a long-standing challenge in adversarial domains. Large Language Models (LLMs) trained on extensive textual data have recently demonstrated outstanding performance in general tasks, introducing new research directions for opponent modeling. Some studies primarily focus on directly using LLMs to generate decisions based on the elaborate prompt context that incorporates opponent descriptions, while these approaches are limited to scenarios where LLMs possess adequate domain expertise. To address that, we introduce a two-stage Strategy-Augmented Planning (SAP) framework that significantly enhances the opponent exploitation capabilities of LLM-based agents by utilizing a critical component, the Strategy Evaluation Network (SEN). Specifically, in the offline stage, we construct an explicit strategy space and subsequently collect strategy-outcome pair data for training the SEN network. During the online phase, SAP dynamically recognizes the opponent's strategies and greedily exploits them by searching best response strategy on the well-trained SEN, finally translating strategy to a course of actions by carefully designed prompts. Experimental results show that SAP exhibits robust generalization capabilities, allowing it to perform effectively not only against previously encountered opponent strategies but also against novel, unseen strategies. In the MicroRTS environment, SAP achieves a 85.35\% performance improvement over baseline methods and matches the competitiveness of reinforcement learning approaches against state-of-the-art (SOTA) rule-based AI.