Related papers: ProgPrompt: Generating Situated Robot Task Plans u…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

We present a hierarchical language-driven framework for robotic task and motion planning to improve natural, intuitive human-robot interaction in service and assistance scenarios. The proposed system employs two large language model (LLM)…

Recent large language models (LLMs) have demonstrated promising capabilities in modeling real-world knowledge and enhancing knowledge-based generation tasks. In this paper, we further explore the potential of using LLMs to aid in the design…

Large language models offer new ways of empowering people to program robot applications-namely, code generation via prompting. However, the code generated by LLMs is susceptible to errors. This work reports a preliminary exploration that…

Prompt engineering is essential for optimizing large language models (LLMs), yet the link between prompt structures and task performance remains underexplored. This work introduces an evolutionary approach that combines context-free grammar…

Large Language Models (LLM) and Vision Language Models (VLM) enable robots to ground natural language prompts into control actions to achieve tasks in an open world. However, when applied to a long-horizon collaborative task, this…

Language models (LLMs) offer potential as a source of knowledge for agents that need to acquire new task competencies within a performance environment. We describe efforts toward a novel agent capability that can construct cues (or…

Emotional intelligence significantly impacts our daily behaviors and interactions. Although Large Language Models (LLMs) are increasingly viewed as a stride toward artificial general intelligence, exhibiting impressive performance in…

Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world robotic tasks are limited by the lack of grounding in the surrounding scene. In this…

With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments. To deliver these services…

Much worldly semantic knowledge can be encoded in large language models (LLMs). Such information could be of great use to robots that want to carry out high-level, temporally extended commands stated in natural language. However, the lack…

Gestures perform a variety of communicative functions that powerfully influence human face-to-face interaction. How this communicative function is achieved varies greatly between individuals and depends on the role of the speaker and the…

Modern large language models (LLMs) are capable of interpreting input strings as instructions, or prompts, and carry out tasks based on them. Unlike traditional learners, LLMs cannot use back-propagation to obtain feedback, and condition…

Large language models (LLMs) exhibit impressive proficiency in natural language generation, understanding user instructions, and emulating human-like language use, which has led to significant interest in their application to role-playing…

Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the large volume of perceptual information, much of which is…

In recent years, the growing interest in Large Language Models (LLMs) has significantly advanced prompt engineering, transitioning from manual design to model-based optimization. Prompts for LLMs generally comprise two components: the…

Large Language Models (LLM) show strong abilities in code generation, but their skill in creating efficient parallel programs is less studied. This paper explores how LLMs generate task-based parallel code from three kinds of input prompts:…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

Large Language Models (LLMs) have achieved impressive performance across various reasoning tasks. However, even state-of-the-art LLMs such as ChatGPT are prone to logical errors during their reasoning processes. Existing solutions, such as…

The performance of large language models (LLMs) depends on how they are prompted, with choices spanning both the high-level prompting pattern (e.g., Zero-Shot, CoT, ReAct, ReWOO) and the specific prompt content (instructions and few-shot…