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

The use of laboratory automation by all researchers may substantially accelerate scientific activities by humans, including those in the life sciences. However, computer programs to operate robots should be written to implement laboratory…

We investigate the use of Large Language Models (LLMs) to equip neural robotic agents with human-like social and cognitive competencies, for the purpose of open-ended human-robot conversation and collaboration. We introduce a modular and…

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…

In recent years, studies have been actively conducted on combining large language models (LLM) and robotics; however, most have not considered end-to-end feedback in the robot-motion generation phase. The prediction of deep neural networks…

Beyond mere formality, small talk plays a pivotal role in social dynamics, serving as a verbal handshake for building rapport and understanding. For conversational AI and social robots, the ability to engage in small talk enhances their…

Large Language Models (LLM) based agents have shown promise in autonomously completing tasks across various domains, e.g., robotics, games, and web navigation. However, these agents typically require elaborate design and expert prompts to…

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots…

As Large Language Models (LLMs) have become integral to both research and daily operations, rigorous evaluation is crucial. This assessment is important not only for individual tasks but also for understanding their societal impact and…

Large Language Models demonstrate strong reasoning and generation abilities, yet their behavior in multi-turn tasks often lacks reliability and verifiability. We present a task completion framework that enables LLM-based agents to act under…

The development of a general purpose service robot for daily life necessitates the robot's ability to deploy a myriad of fundamental behaviors judiciously. Recent advancements in training Large Language Models (LLMs) can be used to generate…

As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…

Expressive robotic behavior is essential for the widespread acceptance of robots in social environments. Recent advancements in learned legged locomotion controllers have enabled more dynamic and versatile robot behaviors. However,…

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…

Pre-trained on massive amounts of code and text data, large language models (LLMs) have demonstrated remarkable achievements in performing code generation tasks. With additional execution-based feedback, these models can act as agents with…

Large Language Models (LLMs) exhibit world knowledge and inference capabilities, making them powerful tools for various applications. This paper proposes a feedback loop mechanism that leverages these capabilities to tune Evolution…

Although Large Language Models (LLMs) have demonstrated remarkable code-generation ability, they still struggle with complex tasks. In real-world software development, humans usually tackle complex tasks through collaborative teamwork, a…

The advent of Large Language Models (LLMs) has raised concerns about their enormous carbon footprint, starting with energy-intensive training and continuing through repeated inference. This study investigates the potential of using…

Large Language Models (LLMs) are increasingly used to generate textual explanations of process models discovered from event logs. Producing explanations from large behavioral abstractions (e.g., directly-follows graphs or Petri nets) can be…

This paper introduces MotionGlot, a model that can generate motion across multiple embodiments with different action dimensions, such as quadruped robots and human bodies. By leveraging the well-established training procedures commonly used…

Reinforcement Learning (RL) is a powerful mathematical framework that allows robots to learn complex skills by trial-and-error. Despite numerous successes in many applications, RL algorithms still require thousands of trials to converge to…