Related papers: REAL: Resilience and Adaptation using Large Langua…
In dynamic open-world environments, autonomous agents often encounter novelties that hinder their ability to find plans to achieve their goals. Specifically, traditional symbolic planners fail to generate plans when the robot's planning…
Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…
Autonomous driving has made significant strides through data-driven techniques, achieving robust performance in standardized tasks. However, existing methods frequently overlook user-specific preferences, offering limited scope for…
The rapid advancement of artificial intelligence, particularly with the development of Large Language Models (LLMs) built on the transformer architecture, has redefined the capabilities of natural language processing. These models now…
Large Language Models (LLMs) are demonstrating outstanding potential for tasks such as text generation, summarization, and classification. Given that such models are trained on a humongous amount of online knowledge, we hypothesize that…
Neural Networks (NNs) trained through supervised learning struggle with managing edge-case scenarios common in real-world driving due to the intractability of exhaustive datasets covering all edge-cases, making knowledge-driven approaches,…
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…
Tool use is a hallmark of advanced intelligence, exemplified in both animal behavior and robotic capabilities. This paper investigates the feasibility of imbuing robots with the ability to creatively use tools in tasks that involve implicit…
Reinforcement learning (RL) has demonstrated its capability in solving various tasks but is notorious for its low sample efficiency. In this paper, we propose RLingua, a framework that can leverage the internal knowledge of large language…
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…
Large language models (LLMs) demonstrate extraordinary abilities in a wide range of natural language processing (NLP) tasks. In this paper, we show that, beyond text understanding capability, LLMs are capable of processing text layouts that…
The advent of large language models (LLMs) has gained tremendous attention over the past year. Previous studies have shown the astonishing performance of LLMs not only in other tasks but also in emotion recognition in terms of accuracy,…
Large Language Models (LLMs) have been touted as AI models possessing advanced reasoning abilities. In theory, autoregressive LLMs with Chain-of-Thought (CoT) can perform more serial computations to solve complex reasoning tasks. However,…
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…
In this paper, we explore the potential of using a large language model (LLM) to understand the driving environment in a human-like manner and analyze its ability to reason, interpret, and memorize when facing complex scenarios. We argue…
To ensure safe driving in dynamic environments, autonomous vehicles should possess the capability to accurately predict lane change intentions of surrounding vehicles in advance and forecast their future trajectories. Existing motion…
Routing problems are common in mobile robotics, encompassing tasks such as inspection, surveillance, and coverage. Depending on the objective and constraints, these problems often reduce to variants of the Traveling Salesman Problem (TSP),…
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…
Finite state machines (FSMs) are widely used to manage robot behavior logic, particularly in real-world applications that require a high degree of reliability and structure. However, traditional manual FSM design and modification processes…
Using AI to create autonomous researchers has the potential to accelerate scientific discovery. A prerequisite for this vision is understanding how well an AI model can identify the underlying structure of a black-box system from its…