Drug-target interaction (DTI) prediction is of great significance for drug discovery and drug repurposing. With the accumulation of a large volume of valuable data, data-driven methods have been increasingly harnessed to predict DTIs, reducing costs across various dimensions. Therefore, this paper proposes a $\textbf{L}$arge $\textbf{L}$anguage $\textbf{M}$odel and $\textbf{M}$ulti-$\textbf{M}$odel data co-powered $\textbf{D}$rug $\textbf{T}$arget $\textbf{I}$nteraction prediction framework, named LLM$^3$-DTI. LLM$^3$-DTI constructs multi-modal data embedding to enhance DTI prediction performance. In this framework, the text semantic embeddings of drugs and targets are encoded by a domain-specific LLM. To effectively align and fuse multi-modal embedding. We propose the dual cross-attention mechanism and the TSFusion module. Finally, these multi-modal data are utilized for the DTI task through an output network. The experimental results indicate that LLM$^3$-DTI can proficiently identify validated DTIs, surpassing the performance of the models employed for comparison across diverse scenarios. Consequently, LLM$^3$-DTI is adept at fulfilling the task of DTI prediction with excellence. The data and code are available at https://github.com/chaser-gua/LLM3DTI.

Recent developments in pretrained large language models (LLMs) applied to robotics have demonstrated their capacity for sequencing a set of discrete skills to achieve open-ended goals in simple robotic tasks. In this paper, we examine the topic of LLM planning for a set of continuously parameterized skills whose execution must avoid violations of a set of kinematic, geometric, and physical constraints. We prompt the LLM to output code for a function with open parameters, which, together with environmental constraints, can be viewed as a Continuous Constraint Satisfaction Problem (CCSP). This CCSP can be solved through sampling or optimization to find a skill sequence and continuous parameter settings that achieve the goal while avoiding constraint violations. Additionally, we consider cases where the LLM proposes unsatisfiable CCSPs, such as those that are kinematically infeasible, dynamically unstable, or lead to collisions, and re-prompt the LLM to form a new CCSP accordingly. Experiments across three different simulated 3D domains demonstrate that our proposed strategy, PRoC3S, is capable of solving a wide range of complex manipulation tasks with realistic constraints on continuous parameters much more efficiently and effectively than existing baselines.

Conventional Task and Motion Planning (TAMP) approaches rely on manually crafted interfaces connecting symbolic task planning with continuous motion generation. These domain-specific and labor-intensive modules are limited in addressing emerging tasks in real-world settings. Here, we present LLM^3, a novel Large Language Model (LLM)-based TAMP framework featuring a domain-independent interface. Specifically, we leverage the powerful reasoning and planning capabilities of pre-trained LLMs to propose symbolic action sequences and select continuous action parameters for motion planning. Crucially, LLM^3 incorporates motion planning feedback through prompting, allowing the LLM to iteratively refine its proposals by reasoning about motion failure. Consequently, LLM^3 interfaces between task planning and motion planning, alleviating the intricate design process of handling domain-specific messages between them. Through a series of simulations in a box-packing domain, we quantitatively demonstrate the effectiveness of LLM^3 in solving TAMP problems and the efficiency in selecting action parameters. Ablation studies underscore the significant contribution of motion failure reasoning to the success of LLM^3. Furthermore, we conduct qualitative experiments on a physical manipulator, demonstrating the practical applicability of our approach in real-world settings.