Ted Xiao

Do As I Can, Not As I Say: Grounding Language in Robotic Affordances

2022 · arXiv (Cornell University)

Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a …

Inner Monologue: Embodied Reasoning through Planning with Language Models

2022 · arXiv (Cornell University)

Recent works have shown how the reasoning capabilities of Large Language Models (LLMs) can be applied to domains beyond natural language processing, such as planning and interaction for robots. These embodied problems require an agent …