Woongje Cho

OntoPlan: An Ontology-Grounded Scene Representation and Agentic Framework for Scalable Robot Task Planning

Large language model (LLM)-based robot task planning is promising for open-ended instruction following, but degrades on long-horizon tasks in large environments. When spatial information is conveyed to the LLM through text, the model can fail to capture spatial context, and token cost grows with environment size. Gener...