This paper addresses the problem of task planning for robots that must comply with operational manuals in real-world settings. Task planning under these constraints is essential for enabling autonomous robot operation in domains that require adherence to domain-specific knowledge. Current methods for generating robot goals and plans rely on common sense knowledge encoded in large language models. However, these models lack grounding of robot plans to domain-specific knowledge and are not easily transferable between multiple sites or customers with different compliance needs. In this work, we present SayComply, which enables grounding robotic task planning with operational compliance using retrieval-based language models. We design a hierarchical database of operational, environment, and robot embodiment manuals and procedures to enable efficient retrieval of the relevant context under the limited context length of the LLMs. We then design a task planner using a tree-based retrieval augmented generation (RAG) technique to generate robot tasks that follow user instructions while simultaneously complying with the domain knowledge in the database. We demonstrate the benefits of our approach through simulations and hardware experiments in real-world scenarios that require precise context retrieval across various types of context, outperforming the standard RAG method. Our approach bridges the gap in deploying robots that consistently adhere to operational protocols, offering a scalable and edge-deployable solution for ensuring compliance across varied and complex real-world environments. Project website: saycomply.github.io.

Retrieval-based language models (LMs) have demonstrated improved interpretability, factuality, and adaptability compared to their parametric counterparts, by incorporating retrieved text from external datastores. While it is well known that parametric models are prone to leaking private data, it remains unclear how the addition of a retrieval datastore impacts model privacy. In this work, we present the first study of privacy risks in retrieval-based LMs, particularly $k$NN-LMs. Our goal is to explore the optimal design and training procedure in domains where privacy is of concern, aiming to strike a balance between utility and privacy. Crucially, we find that $k$NN-LMs are more susceptible to leaking private information from their private datastore than parametric models. We further explore mitigations of privacy risks. When privacy information is targeted and readily detected in the text, we find that a simple sanitization step would completely eliminate the risks, while decoupling query and key encoders achieves an even better utility-privacy trade-off. Otherwise, we consider strategies of mixing public and private data in both datastore and encoder training. While these methods offer modest improvements, they leave considerable room for future work. Together, our findings provide insights for practitioners to better understand and mitigate privacy risks in retrieval-based LMs. Our code is available at: https://github.com/Princeton-SysML/kNNLM_privacy .