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Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

We present a novel architecture for safely integrating Large Language Models (LLMs) into interactive game engines, allowing players to "program" new behaviors using natural language. Our framework mitigates risks by using an LLM to…

This work explores expanding the capabilities of large language models (LLMs) pretrained on text to generate 3D meshes within a unified model. This offers key advantages of (1) leveraging spatial knowledge already embedded in LLMs, derived…

Large Language Models (LLMs) have garnered considerable interest due to their impressive natural language capabilities, which in conjunction with various emergent properties make them versatile tools in workflows ranging from complex code…

The rise of large language models (LLMs) has given rise to a class of prompt-based interactive systems where users primarily express their input in natural language. However, composing a prompt as a linear text string becomes unwieldy when…

Advances in large language models (LLMs) are profoundly reshaping the field of human-robot interaction (HRI). While prior work has highlighted the technical potential of LLMs, few studies have systematically examined their human-centered…

Developing constitutive models that capture how materials deform under load traditionally requires years of specialized expertise in continuum mechanics, machine learning, and scientific programming. Large language models (LLMs) have…

The language generation and reasoning capabilities of large language models (LLMs) have enabled conversational systems with impressive performance in a variety of tasks, from code generation, to composing essays, to passing STEM and legal…

Autonomous cyber-physical systems like robots and self-driving cars could greatly benefit from using formal methods to reason reliably about their control decisions. However, before a problem can be solved it needs to be stated. This…

We show that large language models (LLMs) are remarkably good at working with interpretable models that decompose complex outcomes into univariate graph-represented components. By adopting a hierarchical approach to reasoning, LLMs can…

Recent advances in Large Language Models (LLMs) offer unique opportunities for scientific tasks, yet their ability to reason over complex numerical data remains largely unexplored. We propose a simple mechanism to introduce domain-specific…

Constructing photorealistic virtual worlds has applications across various fields, but it often requires the extensive labor of highly trained professionals to operate conventional 3D modeling software. To democratize this process, we…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

Recent advanced large language models (LLMs) have showcased their emergent capability of in-context learning, facilitating intelligent decision-making through natural language prompts without retraining. This new machine learning paradigm…

This paper analyzes Large Language Models (LLMs) with regard to their programming exercise generation capabilities. Through a survey study, we defined the state of the art, extracted their strengths and weaknesses and finally proposed an…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

This paper delves into the capabilities of large language models (LLMs), specifically focusing on advancing the theoretical comprehension of chain-of-thought prompting. We investigate how LLMs can be effectively induced to generate a…

Large Language Models (LLMs) are transforming programming practices, offering significant capabilities for code generation activities. While researchers have explored the potential of LLMs in various domains, this paper focuses on their use…

Gestures perform a variety of communicative functions that powerfully influence human face-to-face interaction. How this communicative function is achieved varies greatly between individuals and depends on the role of the speaker and the…

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,…