А. В. Смирнов

Frank Joublin, Antonello Ceravola, Pavel Smirnov et al.

In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes to the field of Large Language Models (LLMs) applied to task and motion planning for robots. We propose a system architecture that orchestrates a seamless interplay between multiple cognitive levels, encompassing reasoning, planning, and motion generation. At its core lies a novel replanning strategy that handles physically grounded, logical, and semantic errors in the generated plans. We demonstrate the efficacy of the proposed feedback architecture, particularly its impact on executability, correctness, and time complexity via empirical evaluation in the context of a simulation and two intricate real-world scenarios: blocks world, barman and pizza preparation.

Pavel Smirnov, Frank Joublin, Antonello Ceravola et al.

Large Language Models (LLMs) are capable of transforming natural language domain descriptions into plausibly looking PDDL markup. However, ensuring that actions are consistent within domains still remains a challenging task. In this paper we present a novel concept to significantly improve the quality of LLM-generated PDDL models by performing automated consistency checking during the generation process. Although the proposed consistency checking strategies still can't guarantee absolute correctness of generated models, they can serve as valuable source of feedback reducing the amount of correction efforts expected from a human in the loop. We demonstrate the capabilities of our error detection approach on a number of classical and custom planning domains (logistics, gripper, tyreworld, household, pizza).

Felix Ocker, Jörg Deigmöller, Pavel Smirnov et al.

A wide variety of agentic AI applications - ranging from cognitive assistants for dementia patients to robotics - demand a robust memory system grounded in reality. In this paper, we propose such a memory system consisting of three components. First, we combine Vision Language Models for image captioning and entity disambiguation with Large Language Models for consistent information extraction during perception. Second, the extracted information is represented in a memory consisting of a knowledge graph enhanced by vector embeddings to efficiently manage relational information. Third, we combine semantic search and graph query generation for question answering via Retrieval Augmented Generation. We illustrate the system's working and potential using a real-world example.

A. Smirnov, T. Levashova, A. Karpov et al.

The quantitative evaluation of quotations in the Russian Wiktionary was performed using the developed Wiktionary parser. It was found that the number of quotations in the dictionary is growing fast (51.5 thousands in 2011, 62 thousands in 2012). These quotations were extracted and saved in the relational database of a machine-readable dictionary. For this database, tables related to the quotations were designed. A histogram of distribution of quotations of literary works written in different years was built. It was made an attempt to explain the characteristics of the histogram by associating it with the years of the most popular and cited (in the Russian Wiktionary) writers of the nineteenth century. It was found that more than one-third of all the quotations (the example sentences) contained in the Russian Wiktionary are taken by the editors of a Wiktionary entry from the Russian National Corpus.