  Equipping embodied agents with commonsense is important for robots to
successfully complete complex human instructions in general environments.
Recent large language models (LLM) can embed rich semantic knowledge for agents
in plan generation of complex tasks, while they lack the information about the
realistic world and usually yield infeasible action sequences. In this paper,
we propose a TAsk Planing Agent (TaPA) in embodied tasks for grounded planning
with physical scene constraint, where the agent generates executable plans
according to the existed objects in the scene by aligning LLMs with the visual
perception models. Specifically, we first construct a multimodal dataset
containing triplets of indoor scenes, instructions and action plans, where we
provide the designed prompts and the list of existing objects in the scene for
GPT-3.5 to generate a large number of instructions and corresponding planned
actions. The generated data is leveraged for grounded plan tuning of
pre-trained LLMs. During inference, we discover the objects in the scene by
extending open-vocabulary object detectors to multi-view RGB images collected
in different achievable locations. Experimental results show that the generated
plan from our TaPA framework can achieve higher success rate than LLaVA and
GPT-3.5 by a sizable margin, which indicates the practicality of embodied task
planning in general and complex environments.
