LLM-GROP: Visually grounded robot task and motion planning with large language models

Xiaohan Zhang, Yan Ding, Yohei Hayamizu, Zainab Altaweel, Yifeng Zhu, Yuke Zhu, Peter Stone, Chris Paxton, Shiqi Zhang, The State University of New York at Binghamton, Shanghai AI Laboratory, OneStar Robotics, The University of Texas at Austin, Sony AI, Hello Robot

The International Journal of Robotics Research

Published online on October 01, 2025

Abstract

The International Journal of Robotics Research, Ahead of Print.
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning (TAMP) methods ...