Related papers: Towards Human Awareness in Robot Task Planning wit…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

With the rapid advancement of artificial intelligence and robotics, the integration of Large Language Models (LLMs) with 3D vision is emerging as a transformative approach to enhancing robotic sensing technologies. This convergence enables…

Recent advancements in large language models (LLMs) have expanded their role in robotic task planning. However, while LLMs have been explored for generating feasible task sequences, their ability to ensure safe task execution remains…

Planning algorithms decompose complex problems into intermediate steps that can be sequentially executed by robots to complete tasks. Recent works have employed Large Language Models (LLMs) for task planning, using natural language to…

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,…

Foundation models, including large language models (LLMs) and vision-language models (VLMs), have recently enabled novel approaches to robot autonomy and human-robot interfaces. In parallel, vision-language-action models (VLAs) or large…

Large Language Models (LLMs) have shown remarkable performance in various basic natural language tasks. For completing the complex task, we still need a plan for the task to guide LLMs to generate the specific solutions step by step. LLMs…

Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets,…

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…

Heterogeneous multi-robot systems are increasingly used in long-horizon missions requiring coordinated planning across diverse capabilities. However, existing planning approaches struggle to construct accurate symbolic representations and…

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…

In autonomous exploration tasks, robots are required to explore and map unknown environments while efficiently planning in dynamic and uncertain conditions. Given the significant variability of environments, human operators often have…

Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…

Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…

The pursuit of human-level artificial intelligence (AI) has significantly advanced the development of autonomous agents and Large Language Models (LLMs). LLMs are now widely utilized as decision-making agents for their ability to interpret…

Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…

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…

In high-stake environments like emergency response or elder care, the integration of large language model (LLM), revolutionize risk assessment, resource allocation, and emergency responses in Human Activity Recognition (HAR) systems by…

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…

The ability of Language Models (LMs) to understand natural language makes them a powerful tool for parsing human instructions into task plans for autonomous robots. Unlike traditional planning methods that rely on domain-specific knowledge…