Robotic manipulation is often challenging due to the long-horizon tasks and the complex object relationships. A common solution is to develop a task and motion planning framework that integrates planning for high-level task and low-level motion. Recently, inspired by the powerful reasoning ability of Large Language Models (LLMs), LLM-based planning approaches have achieved remarkable progress. However, these methods still heavily rely on expert-specific knowledge, often generating invalid plans for unseen and unfamiliar tasks. To address this issue, we propose an innovative language-guided symbolic task planning (LM-SymOpt) framework with optimization. It is the first expert-free planning framework since we combine the world knowledge from LLMs with formal reasoning, resulting in improved generalization capability to new tasks. Specifically, differ to most existing work, our LM-SymOpt employs LLMs to translate natural language instructions into symbolic representations, thereby representing actions as high-level symbols and reducing the search space for planning. Next, after evaluating the action probability of completing the task using LLMs, a weighted random sampling method is introduced to generate candidate plans. Their feasibility is assessed through symbolic reasoning and their cost efficiency is then evaluated using trajectory optimization for selecting the optimal planning. Our experimental results show that LM-SymOpt outperforms existing LLM-based planning approaches.

The continuous dimensional emotion modelled by arousal and valence can depict complex changes of emotions. In this paper, we present our works on arousal and valence predictions for One-Minute-Gradual (OMG) Emotion Challenge. Multimodal representations are first extracted from videos using a variety of acoustic, video and textual models and support vector machine (SVM) is then used for fusion of multimodal signals to make final predictions. Our solution achieves Concordant Correlation Coefficient (CCC) scores of 0.397 and 0.520 on arousal and valence respectively for the validation dataset, which outperforms the baseline systems with the best CCC scores of 0.15 and 0.23 on arousal and valence by a large margin.