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In autonomous exploration tasks, robots are required to explore and map unknown environments while efficiently planning in dynamic and uncertain conditions. Given the significant variability of environments, human operators often have…

The pursuit of human-level artificial intelligence (AI) has significantly advanced the development of autonomous agents and Large Language Models (LLMs). LLMs are now widely utilized as decision-making agents for their ability to interpret…

Recently, computer scientists have developed large language models (LLMs) by training prediction models with large-scale language corpora and human reinforcements. The LLMs have become one promising way to implement artificial intelligence…

Though large language models (LLMs) have enabled great success across a wide variety of tasks, they still appear to fall short of one of the loftier goals of artificial intelligence research: creating an artificial system that can adapt its…

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…

Large Language Models (LLMs) have been transformative. They are pre-trained foundational models that are self-supervised and can be adapted with fine tuning to a wide range of natural language tasks, each of which previously would have…

This study is a pioneering endeavor to investigate the capabilities of Large Language Models (LLMs) in addressing conceptual questions within the domain of mechanical engineering with a focus on mechanics. Our examination involves a…

Large language models (LLMs) with billions of parameters exhibit in-context learning abilities, enabling few-shot learning on tasks that the model was not specifically trained for. Traditional models achieve breakthrough performance on…

There is considerable confusion about the role of Large Language Models (LLMs) in planning and reasoning tasks. On one side are over-optimistic claims that LLMs can indeed do these tasks with just the right prompting or self-verification…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

Automating activities through robots in unstructured environments, such as construction sites, has been a long-standing desire. However, the high degree of unpredictable events in these settings has resulted in far less adoption compared to…

ChatGPT and other state-of-the-art large language models (LLMs) are rapidly transforming multiple fields, offering powerful tools for a wide range of applications. These models, commonly trained on vast datasets, exhibit human-like text…

The integration of Large Language Models (LLMs) like GPT-4o into robotic systems represents a significant advancement in embodied artificial intelligence. These models can process multi-modal prompts, enabling them to generate more…

Languages are shaped by the inductive biases of their users. Using a classical referential game, we investigate how artificial languages evolve when optimised for inductive biases in humans and large language models (LLMs) via Human-Human,…

Reinforcement Learning (RL) plays an important role in the robotic manipulation domain since it allows self-learning from trial-and-error interactions with the environment. Still, sample efficiency and reward specification seriously limit…

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

Recent advances in Large Language Models (LLMs) have opened new perspectives for automation in optimization. While several studies have explored how LLMs can generate or solve optimization models, far less is understood about what these…

This paper investigates how Large Language Models (LLMs) represent non-English tokens -- a question that remains underexplored despite recent progress. We propose a lightweight intervention method using representation steering, where a…

Large Language Models (LLMs) are catalyzing a paradigm shift in scientific discovery, evolving from task-specific automation tools into increasingly autonomous agents and fundamentally redefining research processes and human-AI…