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Author

Yan Gao

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Conference Aug 2026

Cost-Aware LLM-Based Task and Motion Planning with Learned Feasibility Checks

Large Language Models (LLMs) have emerged as powerful zero-shot task planners for robotic manipulation, reducing the need for manually specified symbolic models in classical Task and Motion Planning (TAMP). However, in closed-loop LLM–planner systems, motion planning (MP) is often the primary source of feasibility feed...

Mei-Yuan Gong, Yan Gao, Ze Ji · 0 citations
Conference Aug 2026

Prompted to Explore: Training-Time-Only LLM Proposals for Sample-Efficient Pushing Grasping Policies

Learning long-horizon robot manipulation remains difficult and time-consuming, especially under sparse rewards due to inefficient exploration and reward assignment. We present a minimal integration of large language models (LLMs) with reinforcement learning (RL) in which the LLM is used strictly as an online action pro...

Meiyuan Gong, Yan Gao, Ze Ji · 0 citations

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