Related papers: Prompt a Robot to Walk with Large Language Models

Recent developments in foundation models, like Large Language Models (LLMs) and Vision-Language Models (VLMs), trained on extensive data, facilitate flexible application across different tasks and modalities. Their impact spans various…

The use of large language model (LLM)-powered chatbots, such as ChatGPT, has become popular across various domains, supporting a range of tasks and processes. However, due to the intrinsic complexity of LLMs, effective prompting is more…

Recent large language models (LLMs) are capable of planning robot actions. In this paper, we explore how LLMs can be used for planning actions with tasks involving situational human-robot interaction (HRI). A key problem of applying LLMs in…

We present Step-Back Prompting, a simple prompting technique that enables LLMs to do abstractions to derive high-level concepts and first principles from instances containing specific details. Using the concepts and principles to guide…

People have long hoped for a conversational system that can assist in real-life situations, and recent progress on large language models (LLMs) is bringing this idea closer to reality. While LLMs are often impressive in performance, their…

Large language models (LLMs), such as GPT series and Llama series have demonstrated strong capabilities in natural language processing, contextual understanding, and text generation. In recent years, researchers are trying to enhance the…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…

Recent advancements in open-world robot manipulation have been largely driven by vision-language models (VLMs). While these models exhibit strong generalization ability in high-level planning, they struggle to predict low-level robot…

Large Language models (LLMs) have emerged as powerful tools for addressing challenges across diverse domains. Notably, recent studies have demonstrated that large language models significantly enhance the efficiency of biomolecular analysis…

We present a method for developing navigation policies for multi-robot teams that interpret and follow natural language instructions. We condition these policies on embeddings from pretrained Large Language Models (LLMs), and train them via…

This work introduces a framework harnessing the capabilities of Large Language Models (LLMs) to generate primitive task conditions for generalizable long-horizon manipulations with novel objects and unseen tasks. These task conditions serve…

Large language models (LLMs) have taken the world by storm by making many previously difficult uses of AI feasible. LLMs are controlled via highly expressive textual prompts and return textual answers. Unfortunately, this unstructured text…

Large language models (LLMs) have rapidly become familiar tools to researchers and practitioners. Concepts such as prompting, temperature, or few-shot examples are now widely recognized, and LLMs are increasingly used in Modeling &…

Augmenting large language models (LLMs) with user-specific knowledge is crucial for real-world applications, such as personal AI assistants. However, LLMs inherently lack mechanisms for prompt-driven knowledge capture. This paper…

This technical paper introduces a chatting robot system that utilizes recent advancements in large-scale language models (LLMs) such as GPT-3 and ChatGPT. The system is integrated with a co-speech gesture generation system, which selects…

The use of Large Language Models (LLMs) for generating Behavior Trees (BTs) has recently gained attention in the robotics community, yet remains in its early stages of development. In this paper, we propose a novel framework that leverages…

Robots are increasingly common in industry and daily life, such as in nursing homes where they can assist staff. A key challenge is developing intuitive interfaces for easy communication. The use of Large Language Models (LLMs) like GPT-4…

Recent years have witnessed significant progress in large language models' (LLMs) reasoning, which is largely due to the chain-of-thought (CoT) approaches, allowing models to generate intermediate reasoning steps before reaching the final…

This paper presents a novel approach to generating behavior trees for robots using lightweight large language models (LLMs) with a maximum of 7 billion parameters. The study demonstrates that it is possible to achieve satisfying results…