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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…

Recent studies have demonstrated that In-Context Learning (ICL), through the use of specific demonstrations, can align Large Language Models (LLMs) with human preferences known as In-Context Alignment (ICA), indicating that models can…

Inverse Kinematics (IK) systems are often rigid with respect to their input character, thus requiring user intervention to be adapted to new skeletons. In this paper we aim at creating a flexible, learned IK solver applicable to a wide…

We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…

This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…

Large language models (LLMs) inherently absorb harmful knowledge, misinformation, and personal data during pretraining on large-scale web corpora, with no native mechanism for selective removal. While machine unlearning offers a principled…

In recent years, studies have been actively conducted on combining large language models (LLM) and robotics; however, most have not considered end-to-end feedback in the robot-motion generation phase. The prediction of deep neural networks…

As robotic technology rapidly develops, robots are being employed in an increasing number of fields. However, due to the complexity of deployment environments or the prevalence of ambiguous-condition objects, the practical application of…

The growing complexity of power systems has made accurate load forecasting more important than ever. An increasing number of advanced load forecasting methods have been developed. However, the static design of current methods offers no…

This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), analogous to muscle memory. The proposed method addresses key…

Task planning for robotic manipulation with large language models (LLMs) is an emerging area. Prior approaches rely on specialized models, fine tuning, or prompt tuning, and often operate in an open loop manner without robust environmental…

Human-AI interactivity is a critical aspect that reflects the usability of multimodal large language models (MLLMs). However, existing end-to-end MLLMs only allow users to interact with them through language instructions, leading to the…

Humans spontaneously use increasingly efficient language as interactions progress, by adapting and forming ad-hoc conventions. This phenomenon has been studied extensively using reference games, showing properties of human language that go…

Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…

Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity…

Recent advances in multimodal large language models (MLLMs) and diffusion models (DMs) have opened new possibilities for AI-generated content. Yet, personalized cover image generation remains underexplored, despite its critical role in…

Human actions manipulating articulated objects, such as opening and closing a drawer, can be categorized into multiple modalities we define as interaction modes. Traditional robot learning approaches lack discrete representations of these…

Predicting user behavior is essential for intelligent assistant services, yet deep learning models often struggle to capture long-tailed behaviors. Large language models (LLMs), with their pretraining on vast corpora containing rich…

Multimodal large language models (MLLMs) have demonstrated extraordinary capabilities in conducting conversations based on image inputs. However, we observe that MLLMs exhibit a pronounced form of visual sycophantic behavior. While similar…

Joint attention is a critical marker of early social-communicative development, yet remains difficult for caregivers to assess without expert guidance. In this work, we explore how multimodal large language models (MLLMs) can be aligned…