Related papers: BTGenBot: Behavior Tree Generation for Robotic Tas…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

Recent advancements in large language models (LLMs) have spurred interest in using them for generating robot programs from natural language, with promising initial results. We investigate the use of LLMs to generate programs for service…

Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…

Behavior Trees are a task switching policy representation that can grant reactiveness and fault tolerance. Moreover, because of their structure and modularity, a variety of methods can be used to generate them automatically. In this short…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

Programming robot behavior in a complex world faces challenges on multiple levels, from dextrous low-level skills to high-level planning and reasoning. Recent pre-trained Large Language Models (LLMs) have shown remarkable reasoning ability…

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…

Large Language Models (LLMs) are widely used for code generation. However, commercial models like ChatGPT require significant computing power, which leads to high energy use and carbon emissions. This has raised concerns about their…

As an intriguing case is the goodness of the machine and deep learning models generated by these LLMs in conducting automated scientific data analysis, where a data analyst may not have enough expertise in manually coding and optimizing…

Large language models offer new ways of empowering people to program robot applications-namely, code generation via prompting. However, the code generated by LLMs is susceptible to errors. This work reports a preliminary exploration that…

Integrating free-text explanations to in-context learning of large language models (LLM) is shown to elicit strong reasoning capabilities along with reasonable explanations. In this paper, we consider the problem of leveraging the…

We propose a design for a functional programming language for autonomous agents, built off the ideas and motivations of Behavior Trees (BTs). BTs are a popular model for designing agents behavior in robotics and AI. However, as their growth…

Large Language Model-based agents have garnered significant attention and are becoming increasingly popular. Furthermore, planning ability is a crucial component of an LLM-based agent, which generally entails achieving a desired goal from…

Large language models (LLMs) can be used as accessible and intelligent chatbots by constructing natural language queries and directly inputting the prompt into the large language model. However, different prompt' constructions often lead to…

This paper examines the performance of two Large Language Models (LLMs), GPT3.5 and Llama2 and one Small Language Model (SLM) Gemma, across three different classification tasks within the climate change (CC) and environmental domain.…

Pre-trained LLMs have demonstrated substantial capabilities across a range of conventional natural language processing (NLP) tasks, such as summarization and entity recognition. In this paper, we explore the application of LLMs in the…

The in-context learning ability of large language models (LLMs) enables them to generalize to novel downstream tasks with relatively few labeled examples. However, they require enormous computational resources to be deployed. Alternatively,…

In this paper we introduce Latent Tree Language Model (LTLM), a novel approach to language modeling that encodes syntax and semantics of a given sentence as a tree of word roles. The learning phase iteratively updates the trees by moving…

A common training approach for language models involves using a large-scale language model to expand a human-provided dataset, which is subsequently used for model training.This method significantly reduces training costs by eliminating the…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…