olp_llm: Code for "Bootstrapping Object-Level Planning with Large Language Models"

NOTE: This code is for the ICRA 2025 paper entitled "Bootstrapping Object-Level Planning with Large Language Models" (Authors: David Paulius, Alejandro Agostini, Benedict Quartey, and George Konidaris).

Preliminaries:

I. Cloning Repository

You will need to clone this repository and recursively clone and download its submodules using the following commands:

git clone https://github.com/davidpaulius/olp_llm --recursive
git submodule update --remote --merge --recursive

There are several submodules that will be added to this directory:

1. foon_to_pddl:- this library helps to manage certain functions for FOON object-level plans.
2. OMPLement: this is a small library I wrote to simplify OMPL-based motion planning with CoppeliaSim.
3. downward: this is the Fast-Downward automated planner.
   • You must build this solver prior to use. Follow the instructions here on how to do so.
   • If you already have Fast-Downward installed on your machine, you can simply modify the path to its location in the pddl_planning..p file (line 9).

II. CoppeliaSim

You will need to download the CoppeliaSim simulator and set up its Python API using the following pip command:

python3 -m pip install coppeliasim-zmqremoteapi-client

III. Python Requirements

pip3 install -r requirements.txt

How to Run

Simply run the Jupyter Notebook script named ICRA25_pipeline.py once you have set everything up as above. You can change the task setting by modifying the code as well as set the OpenAI GPT model of your choice.

• Check out the OpenAI API documentation page for information on the kinds of models available for use and other details.

Further Details on OMPL in CoppeliaSim

To deeply understand what's happening in the code, I would recommend going through the tutorials (yes, I know...) that are available online. There may be specific things you require for your own planning problem, so you should definitely consult the forums.

Questions? Comments? Feedback?

Feel free to reach out to me via email!