There has been more interesting work on using transformers for robot motion planning[0]. Getting a robot arm from point a to b without hitting stuff is a very difficult problem, the problem is both high dimensional and continuous. Previous planning methods are both computationally intensive and not very good. This is one reason why robot motion appears 'unnatural' and robots generally being bad at many tasks we'd like them to do. This approach appears pretty competitive with other planning methods, planning near optimal paths faster.
[0]https://sites.google.com/ucsd.edu/vq-mpt/home