Related work is the planning paper by Valmeekan et al [1]. The gist is that LLMs are incapable of planning, which is due to their autoregressive nature. METAs H

Related work is the planning paper by Valmeekan et al [1]. The gist is that LLMs are incapable of planning, which is due to their autoregressive nature. METAs Head of AI Yann Lecun also talks about this topic in a talk [2]. As RT2 is based on a similar architecture, I think the results will be similar. [1] https://arxiv.org/abs/2305.15771 https://arxiv.org/abs/2305.15771 [2] https://youtu.be/x10964w00zk https://youtu.be/x10964w00zk