Related papers: CLARA: Classifying and Disambiguating User Command…

In recent years, robots are used in an increasing variety of tasks, especially by small- and medium- sized enterprises. These tasks are usually fast-changing, they have a collaborative scenario and happen in unpredictable environments with…

In safety-critical domains, linguistic ambiguity can have severe consequences; a vague command like "Pass me the vial" in a surgical setting could lead to catastrophic errors. Yet, most embodied AI research overlooks this, assuming…

In human-robot collaboration, unintentional physical contacts occur in the form of collisions and clamping, which must be detected and classified separately for a reaction. If certain collision or clamping situations are misclassified,…

Intelligent agents such as robots are increasingly deployed in real-world, safety-critical settings. It is vital that these agents are able to explain the reasoning behind their decisions to human counterparts, however, their behavior is…

Language-conditioned policies have recently gained substantial adoption in robotics as they allow users to specify tasks using natural language, making them highly versatile. While much research has focused on improving the action…

Coping with ambiguous questions has been a perennial problem in real-world dialogue systems. Although clarification by asking questions is a common form of human interaction, it is hard to define appropriate questions to elicit more…

As a part of an embodied agent, Large Language Models (LLMs) are typically used for behavior planning given natural language instructions from the user. However, dealing with ambiguous instructions in real-world environments remains a…

Large Language Models (LLMs) are increasingly used as coding assistants. However, the ambiguity of the developer's prompt often leads to incorrect code generation, as current models struggle to infer user intent without extensive prompt…

Future self-adaptive robots are expected to operate in highly dynamic environments while effectively managing uncertainties. However, identifying the sources and impacts of uncertainties in such robotic systems and defining appropriate…

Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined on-site with a single language instruction to the robot. In…

We consider an autonomous navigation robot that can accept human commands through natural language to provide services in an indoor environment. These natural language commands may include time, position, object, and action components.…

Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity…

Machine Learning (ML) has emerged as a powerful form of data modelling with widespread applicability beyond its roots in the design of autonomous agents. However, relatively little attention has been paid to the interaction between people…

Effective human-robot collaboration in surgery is affected by the inherent ambiguity of verbal communication. This paper presents a framework for a robotic surgical assistant that interprets and disambiguates verbal instructions from a…

Task assignment and scheduling algorithms are powerful tools for autonomously coordinating large teams of robotic or AI agents. However, the decisions these system make often rely on components designed by domain experts, which can be…

Robots can adapt to user preferences by learning reward functions from demonstrations, but with limited data, reward models often overfit to spurious correlations and fail to generalize. This happens because demonstrations show robots how…

Large language models (LLMs) show potential as simulators of human behavior, offering a scalable way to study responses to interventions. However, because LLMs are trained largely on observational data, interventions in experiments with…

The advantages of pre-trained large language models (LLMs) are apparent in a variety of language processing tasks. But can a language model's knowledge be further harnessed to effectively disambiguate objects and navigate decision-making…

Large Language Models (LLMs) have catalyzed transformative advances across a spectrum of natural language processing tasks through few-shot or zero-shot prompting, bypassing the need for parameter tuning. While convenient, this modus…

In visual question answering (VQA) context, users often pose ambiguous questions to visual language models (VLMs) due to varying expression habits. Existing research addresses such ambiguities primarily by rephrasing questions. These…