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Recent advances in robot skill learning have unlocked the potential to construct task-agnostic skill libraries, facilitating the seamless sequencing of multiple simple manipulation primitives (aka. skills) to tackle significantly more…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Leveraging Large Language Models (LLMs) to write policy code for controlling robots has gained significant attention. However, in long-horizon implicative tasks, this approach often results in API parameter, comments and sequencing errors,…

Recent advancements in large language models (LLMs) have spurred interest in robotic navigation that incorporates complex spatial, mathematical, and conditional constraints from natural language into the planning problem. Such constraints…

Large Language Models (LLMs) have recently emerged as planners for language-instructed agents, generating sequences of actions to accomplish natural language tasks. However, their reliability remains a challenge, especially in long-horizon…

Large Language Models (LLMs) have demonstrated remarkable ability in long-horizon Task and Motion Planning (TAMP) by translating clear and straightforward natural language problems into formal specifications such as the Planning Domain…

Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the…

Large Language Models (LLMs) possess extensive foundational knowledge and moderate reasoning abilities, making them suitable for general task planning in open-world scenarios. However, it is challenging to ground a LLM-generated plan to be…

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…

One of the long-standing goals in optimisation and constraint programming is to describe a problem in natural language and automatically obtain an executable, efficient model. Large language models appear to bring this vision closer,…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

Supervised fine-tuning (SFT) and alignment of large language models (LLMs) are key steps in providing a good user experience. However, the concept of an appropriate alignment is inherently application-dependent, and current methods often…

The manufacturing industry is undergoing a transformative shift, driven by cutting-edge technologies like 5G, AI, and cloud computing. Despite these advancements, effective system control, which is crucial for optimizing production…

Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they have shown a lack of knowledge and effectiveness in planning…

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…

We observe that pre-trained large language models (LLMs) are capable of autoregressively completing complex token sequences -- from arbitrary ones procedurally generated by probabilistic context-free grammars (PCFG), to more rich spatial…

Large-language-models (LLMs) demonstrate enormous utility in long-context tasks which require processing prompts that consist of tens to hundreds of thousands of tokens. However, existing LLM training libraries do not provide easy to use…

Large language models (LLMs) achieve impressive results over various tasks, and ever-expanding public repositories contain an abundance of pre-trained models. Therefore, identifying the best-performing LLM for a given task is a significant…

In recent years, Large Language Models (LLMs) have made significant strides towards Artificial General Intelligence. However, training these models from scratch requires substantial computational resources and vast amounts of text data. In…

Large Language Models (LLMs), deep learning architectures with typically over 10 billion parameters, have recently begun to be integrated into various cyber-physical systems (CPS) such as robotics, industrial automation, and autopilot…