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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…

While large language models (LLMs) have advanced procedural planning for embodied AI systems through strong reasoning abilities, the integration of multimodal inputs and counterfactual reasoning remains underexplored. To tackle these…

Large language models (LLMs), when guided by explicit textual plans, can perform reliable step-by-step reasoning during problem-solving. However, generating accurate and effective textual plans remains challenging due to LLM hallucinations…

Participatory urban planning is the mainstream of modern urban planning and involves the active engagement of different stakeholders. However, the traditional participatory paradigm encounters challenges in time and manpower, while the…

Video procedure planning, i.e., planning a sequence of action steps given the video frames of start and goal states, is an essential ability for embodied AI. Recent works utilize Large Language Models (LLMs) to generate enriched action step…

Intrigued by the claims of emergent reasoning capabilities in LLMs trained on general web corpora, in this paper, we set out to investigate their planning capabilities. We aim to evaluate (1) how good LLMs are by themselves in generating…

We consider the problem of Vision-and-Language Navigation (VLN). The majority of current methods for VLN are trained end-to-end using either unstructured memory such as LSTM, or using cross-modal attention over the egocentric observations…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

Human reasoning can be understood as a cooperation between the intuitive, associative "System-1" and the deliberative, logical "System-2". For existing System-1-like methods in visual activity understanding, it is crucial to integrate…

The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…

Large Vision-Language Models (LVLMs) show promise for embodied planning tasks but struggle with complex scenarios involving unfamiliar environments and multi-step goals. Current approaches rely on environment-agnostic imitation learning…

Recent work has documented striking heterogeneity in the performance of state-of-the-art vision language models (VLMs), including both multimodal language models and text-to-image models. These models are able to describe and generate a…

Large Language Models (LLMs) have demonstrated amazing capabilities in language generation, text comprehension, and knowledge reasoning. While a single powerful model can already handle multiple tasks, relying on a single perspective can…

Large Language Models (LLMs) have demonstrated their capabilities across various tasks, from language translation to complex reasoning. Understanding and predicting human behavior and biases are crucial for artificial intelligence (AI)…

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…

With the advancement of Large-Language Models (LLMs) and Large Vision-Language Models (LVMs), agents have shown significant capabilities in various tasks, such as data analysis, gaming, or code generation. Recently, there has been a surge…

Visual Language Models (VLMs) are now increasingly being merged with Large Language Models (LLMs) to enable new capabilities, particularly in terms of improved interactivity and open-ended responsiveness. While these are remarkable…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

Large language models (LLMs) have multilingual capabilities and can solve tasks across various languages. However, we show that current LLMs make key decisions in a representation space closest to English, regardless of their input and…

Large Language Models (LLMs) are important tools for reasoning and problem-solving, while they often operate passively, answering questions without actively discovering new ones. This limitation reduces their ability to simulate human-like…