Related papers: LLM-BT: Performing Robotic Adaptive Tasks based on…

This paper introduces an approach that combines the language reasoning capabilities of large language models (LLMs) with the benefits of local training to tackle complex, domain-specific tasks. Specifically, the authors demonstrate their…

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 paper aims to fulfil three main functions: (1) to serve as an introduction for the physics education community to the functioning of Large Language Models (LLMs), (2) to present a series of illustrative examples demonstrating how…

The advantages of pre-trained large language models (LLMs) are apparent in a variety of language processing tasks. But can a language model's knowledge be further harnessed to effectively disambiguate objects and navigate decision-making…

Large language models (LLMs) have taken the scientific world by storm, changing the landscape of natural language processing and human-computer interaction. These powerful tools can answer complex questions and, surprisingly, perform…

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…

Large language models (LLMs) have recently taken the world by storm. They can generate coherent text, hold meaningful conversations, and be taught concepts and basic sets of instructions - such as the steps of an algorithm. In this context,…

The final frontier for simulation is the accurate representation of complex, real-world social systems. While agent-based modeling (ABM) seeks to study the behavior and interactions of agents within a larger system, it is unable to…

Recent advances in Large Language Models (LLMs) have showcased their remarkable reasoning capabilities, making them influential across various fields. However, in robotics, their use has primarily been limited to manipulation planning tasks…

This paper takes an exploratory approach to examine the use of ChatGPT for pattern mining. It proposes an eight-step collaborative process that combines human insight with AI capabilities to extract patterns from known uses. The paper…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Bayesian adaptive clinical trials offer a flexible and efficient alternative to traditional fixed-design trials, but their implementation is often hindered by the complexity of Bayesian computations and the need for advanced statistical…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Large Language Models (LLMs) have transformed NLP with their remarkable In-context Learning (ICL) capabilities. Automated assistants based on LLMs are gaining popularity; however, adapting them to novel tasks is still challenging. While…

Large language models (LLMs) have demonstrated exciting progress in acquiring diverse new capabilities through in-context learning, ranging from logical reasoning to code-writing. Robotics researchers have also explored using LLMs to…

Transformer architectures are the backbone of the modern AI revolution. However, they are based on simply stacking the same blocks in dozens of layers and processing information sequentially from one block to another. In this paper, we…

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…

This work introduces LAB (Large-scale Alignment for chatBots), a novel methodology designed to overcome the scalability challenges in the instruction-tuning phase of large language model (LLM) training. Leveraging a taxonomy-guided…

In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…

With the rising demand for flexible manufacturing, robots are increasingly expected to operate in dynamic environments where local -- such as slight offsets or size differences in workpieces -- are common. We propose to address the problem…