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The application of the Large Language Model (LLM) to robot action planning has been actively studied. The instructions given to the LLM by natural language may include ambiguity and lack of information depending on the task context. It is…

The emergence of large language models (LLMs) has increasingly drawn attention to the use of LLMs for human-like planning. Existing work on LLM-based planning either focuses on leveraging the inherent language generation capabilities of…

While Large Language Models (LLMs) can solve many NLP tasks in zero-shot settings, applications involving embodied agents remain problematic. In particular, complex plans that require multi-step reasoning become difficult and too costly as…

Large Language Models (LLMs) represent a landmark achievement in Artificial Intelligence (AI), demonstrating unprecedented proficiency in procedural tasks such as text generation, code completion, and conversational coherence. These…

As AI continues to advance, there is a growing demand for systems that go beyond language-based assistance and move toward intelligent agents capable of performing real-world actions. This evolution requires the transition from traditional…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

Large Language Models (LLMs) have shown remarkable performance in various basic natural language tasks. For completing the complex task, we still need a plan for the task to guide LLMs to generate the specific solutions step by step. LLMs…

Embodied agents operating in household environments must interpret ambiguous and under-specified human instructions. A capable household robot should recognize ambiguity and ask relevant clarification questions to infer the user intent…

Embodied AI Agents are quickly becoming important and common tools in society. These embodied agents should be able to learn about and accomplish a wide range of user goals and preferences efficiently and robustly. Large Language Models…

Large Language Models (LLMs) handle physical commonsense information inadequately. As a result of being trained in a disembodied setting, LLMs often fail to predict an action's outcome in a given environment. However, predicting the effects…

Skeleton-based action recognition has attracted lots of research attention. Recently, to build an accurate skeleton-based action recognizer, a variety of works have been proposed. Among them, some works use large model architectures as…

Training agents to act competently in complex 3D environments from high-dimensional visual information is challenging. Reinforcement learning is conventionally used to train such agents, but requires a carefully designed reward function,…

Large language models (LLMs) are trained and tested extensively on symbolic representations such as code and graphs, yet real-world user tasks are often specified in natural language. To what extent can LLMs generalize across these…

In domains requiring intelligent agents to emulate plausible human-like behaviour, such as formative simulations, traditional techniques like behaviour trees encounter significant challenges. Large Language Models (LLMs), despite not always…

When SE data is scarce, "active learners" use models learned from tiny samples of the data to find the next most informative example to label. In this way, effective models can be generated using very little data. For multi-objective…

The sensor-based recognition of Activities of Daily Living (ADLs) in smart home environments enables several applications in the areas of energy management, safety, well-being, and healthcare. ADLs recognition is typically based on deep…

Recent large language models (LLMs) are capable of planning robot actions. In this paper, we explore how LLMs can be used for planning actions with tasks involving situational human-robot interaction (HRI). A key problem of applying LLMs in…

Symbolic planners can discover a sequence of actions from initial to goal states given expert-defined, domain-specific logical action semantics. Large Language Models (LLMs) can directly generate such sequences, but limitations in reasoning…

Large language models (LLMs) can capture rich representations of concepts that are useful for real-world tasks. However, language alone is limited. While existing LLMs excel at text-based inferences, health applications require that models…

While systems designed for solving planning tasks vastly outperform Large Language Models (LLMs) in this domain, they usually discard the rich semantic information embedded within task descriptions. In contrast, LLMs possess parametrised…