Conformal Temporal Logic Planning using Large Language Models

no code implementations • 18 Sep 2023 • Jun Wang, Jiaming Tong, Kaiyuan Tan, Yevgeniy Vorobeychik, Yiannis Kantaros

To address it, we propose HERACLEs, a hierarchical neuro-symbolic planner that relies on a novel integration of (i) existing symbolic planners generating high-level task plans determining the order at which the NL sub-tasks should be accomplished; (ii) pre-trained Large Language Models (LLMs) to design sequences of robot actions based on these task plans; and (iii) conformal prediction acting as a formal interface between (i) and (ii) and managing uncertainties due to LLM imperfections.

Conformal Prediction Motion Planning