Related papers: Language to Rewards for Robotic Skill Synthesis

In-context learning enables large language models (LLMs) to perform a variety of tasks, including learning to make reward-maximizing choices in simple bandit tasks. Given their potential use as (autonomous) decision-making agents, it is…

Utilizing Large Language Models (LLMs) for complex tasks is challenging, often involving a time-consuming and uncontrollable prompt engineering process. This paper introduces a novel human-LLM interaction framework, Low-code LLM. It…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Effective human-robot collaboration hinges on robust communication channels, with visual signaling playing a pivotal role due to its intuitive appeal. Yet, the creation of visually intuitive cues often demands extensive resources and…

This paper introduces LLM-MARS, first technology that utilizes a Large Language Model based Artificial Intelligence for Multi-Agent Robot Systems. LLM-MARS enables dynamic dialogues between humans and robots, allowing the latter to generate…

Large Language Models (LLMs) have demonstrated remarkable creative writing capabilities, yet their substantial computational demands hinder widespread use. Enhancing Small Language Models (SLMs) offers a promising alternative, but current…

The impressive capabilities of Large Language Models (LLMs) have led to various efforts to enable robots to be controlled through natural language instructions, opening exciting possibilities for human-robot interaction The goal is for the…

Large Language Models (LLMs) have achieved state-of-the-art performance across numerous tasks. However, these advancements have predominantly benefited "first-class" languages such as English and Chinese, leaving many other languages…

Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…

This study proposes LiP-LLM: integrating linear programming and dependency graph with large language models (LLMs) for multi-robot task planning. In order for multiple robots to perform tasks more efficiently, it is necessary to manage the…

The fusion of Large Language Models (LLMs) and robotic systems has led to a transformative paradigm in the robotic field, offering unparalleled capabilities not only in the communication domain but also in skills like multimodal input…

Large language models (LLMs) have exhibited extraordinary performance in a variety of tasks while it remains challenging for them to solve complex multi-step tasks as agents. In practice, agents sensitive to the outcome of certain key steps…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

Designing efficient reward functions for low-level control tasks is a challenging problem. Recent research aims to reduce reliance on expert experience by using Large Language Models (LLMs) with task information to generate dense reward…

We study the use of large language models (LLMs) for physics instrument design and compare their performance to reinforcement learning (RL). Using only prompting, LLMs are given task constraints and summaries of prior high-scoring designs…

Large Language Models (LLMs) have made substantial strides in structured tasks through Reinforcement Learning (RL), demonstrating proficiency in mathematical reasoning and code generation. However, applying RL in broader domains like…

To achieve natural and intuitive interaction with people, HRI frameworks combine a wide array of methods for human perception, intention communication, human-aware navigation and collaborative action. In practice, when encountering…

In order to flexibly act in an everyday environment, a robotic agent needs a variety of cognitive capabilities that enable it to reason about plans and perform execution recovery. Large language models (LLMs) have been shown to demonstrate…

End-user robot programming grants users the flexibility to re-task robots in situ, yet it remains challenging for novices due to the need for specialized robotics knowledge. Large Language Models (LLMs) hold the potential to lower the…

Although Multi-Agent Reinforcement Learning (MARL) is effective for complex multi-robot tasks, it suffers from low sample efficiency and requires iterative manual reward tuning. Large Language Models (LLMs) have shown promise in…