Related papers: Robot Behavior-Tree-Based Task Generation with Lar…

Building a lifelong robot that can effectively leverage prior knowledge for continuous skill acquisition remains significantly challenging. Despite the success of experience replay and parameter-efficient methods in alleviating catastrophic…

Generating sports game reports from structured tables is a complex table-to-text task that demands both precise data interpretation and fluent narrative generation. Traditional model-based approaches require large, annotated datasets, while…

We propose a novel method for automatic program synthesis. P-Tree Programming represents the program search space through a single probabilistic prototype tree. From this prototype tree we form program instances which we evaluate on a given…

Prompt engineering is a crucial yet challenging task for optimizing the performance of large language models (LLMs) on customized tasks. This pioneering research introduces the Automatic Prompt Engineering Toolbox (APET), which enables…

Source code can be parsed into the abstract syntax tree (AST) based on defined syntax rules. However, in pre-training, little work has considered the incorporation of tree structure into the learning process. In this paper, we present…

Robot end users increasingly require accessible means of specifying tasks for robots to perform. Two common end-user programming paradigms include drag-and-drop interfaces and natural language programming. Although natural language…

Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…

Decomposing complex tasks into a sequence of simpler subtasks can improve learning efficiency for an autonomous agent. Reinforcement learning (RL) can be used to optimize agent policies to complete subtasks, but requires well-defined…

Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control…

Tree-structured multi-task architectures have been employed to jointly tackle multiple vision tasks in the context of multi-task learning (MTL). The major challenge is to determine where to branch out for each task given a backbone model to…

Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…

Large Language Models (LLMs) have shown prominent performance in various downstream tasks and prompt engineering plays a pivotal role in optimizing LLMs' performance. This paper, not only as an overview of current prompt engineering…

Reasoning methods, best exemplified by the well-known Chain-of-Thought (CoT), empower the reasoning abilities of Large Language Models (LLMs) by eliciting them to solve complex tasks in a step-by-step manner. Although they are achieving…

Different from other sequential data, sentences in natural language are structured by linguistic grammars. Previous generative conversational models with chain-structured decoder ignore this structure in human language and might generate…

As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…

In this work, we introduce Speech-Copilot, a modular framework for instruction-oriented speech-processing tasks that minimizes human effort in toolset construction. Unlike end-to-end methods using large audio-language models, Speech-Copilot…

Large language models (LLMs) can perform complex reasoning by generating intermediate reasoning steps. Providing these steps for prompting demonstrations is called chain-of-thought (CoT) prompting. CoT prompting has two major paradigms. One…

While most research on controllable text generation has focused on steering base Language Models, the emerging instruction-tuning and prompting paradigm offers an alternate approach to controllability. We compile and release ConGenBench, a…

In embodied artificial intelligence, enabling heterogeneous robot teams to execute long-horizon tasks from high-level instructions remains a critical challenge. While large language models (LLMs) show promise in instruction parsing and…

Task-oriented dialogue systems help users accomplish tasks such as booking a movie ticket and ordering food via conversation. Generative models parameterized by a deep neural network are widely used for next turn response generation in such…