Related papers: GenCHiP: Generating Robot Policy Code for High-Pre…

Large Language Models (LLMs) have made significant strides in various intelligent tasks but still struggle with complex action reasoning tasks that require systematic search. To address this limitation, we propose a method that bridges the…

Integrating robotics into everyday scenarios like tutoring or physical training requires robots capable of adaptive, socially engaging, and goal-oriented interactions. While Large Language Models show promise in human-like communication,…

Large language models (LLMs) have emerged as powerful and general solutions to many natural language tasks. However, many of the most important applications of language generation are interactive, where an agent has to talk to a person to…

Large Language Models (LLMs)-based agents have made impressive progress in reasoning and tool use, enabling them to solve complex tasks. However, their ability to proactively collaborate with users, especially when goals are vague,…

Generalizing language-conditioned robotic policies to new tasks remains a significant challenge, hampered by the lack of suitable simulation benchmarks. In this paper, we address this gap by introducing GemBench, a novel benchmark to assess…

Large language models (LLMs) have recently emerged as promising tools for solving challenging robotic tasks, even in the presence of action and observation uncertainties. Recent LLM-based decision-making methods (also referred to as…

With the rapid advancement of large language models (LLMs), recent years have witnessed many promising studies on leveraging LLM-based agents to simulate human social behavior. While prior work has demonstrated significant potential across…

Enabling robotic agents to perform complex long-horizon tasks has been a long-standing goal in robotics and artificial intelligence (AI). Despite the potential shown by large language models (LLMs), their planning capabilities remain…

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…

Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…

In recent years, the integration of large language models (LLMs) has revolutionized the field of robotics, enabling robots to communicate, understand, and reason with human-like proficiency. This paper explores the multifaceted impact of…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

General-purpose robots coexisting with humans in their environment must learn to relate human language to their perceptions and actions to be useful in a range of daily tasks. Moreover, they need to acquire a diverse repertoire of…

End-user robot programming grants users the flexibility to re-task robots in situ, yet it remains challenging for novices due to the need for specialized robotics knowledge. Large Language Models (LLMs) hold the potential to lower the…

Large language models (LLMs) have demonstrated remarkable capabilities across a range of text-generation tasks. However, LLMs still struggle with problems requiring multi-step decision-making and environmental feedback, such as online…

Large Language Models (LLMs) have demonstrated a powerful ability for text generation. However, achieving optimal results with a given prompt or instruction can be challenging, especially for billion-sized models. Additionally, undesired…

Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabilize contact under uncertainty. Existing learning-based…

Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…

Automatically generating training supervision for embodied tasks is crucial, as manual designing is tedious and not scalable. While prior works use large language models (LLMs) or vision-language models (VLMs) to generate rewards, these…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…