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We propose a method that enables large language models (LLMs) to control embodied agents through the generation of control policies that directly map continuous observation vectors to continuous action vectors. At the outset, the LLMs…

As the applications of large language models (LLMs) expand across diverse fields, the ability of these models to adapt to ongoing changes in data, tasks, and user preferences becomes crucial. Traditional training methods, relying on static…

Large language model (LLM) based agents have recently attracted much attention from the research and industry communities. Compared with original LLMs, LLM-based agents are featured in their self-evolving capability, which is the basis for…

It is crucial that robots' performance can be improved after deployment, as they are inherently likely to encounter novel scenarios never seen before. This paper presents an innovative solution: an interactive learning-based robot system…

Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language models (LLMs) for task planning seeks to address the…

To improve the performance of large language models (LLMs), researchers have explored providing LLMs with textual task-solving experience via prompts. However, they rely on manual efforts to acquire and apply such experience for each task,…

Most research on lifelong learning applies to images or games, but not language. We present LAMOL, a simple yet effective method for lifelong language learning (LLL) based on language modeling. LAMOL replays pseudo-samples of previous tasks…

Multimodal large language models (MLLMs) have advanced vision-language reasoning and are increasingly deployed in embodied agents. However, significant limitations remain: MLLMs generalize poorly across digital-physical spaces and…

Robots trained via Reinforcement Learning (RL) or Imitation Learning (IL) often adapt slowly to new tasks, whereas recent Large Language Models (LLMs) and Vision-Language Models (VLMs) promise knowledge-rich planning from minimal data.…

Large Language Model (LLM)-based agents have fundamentally reshaped artificial intelligence by integrating external tools and planning capabilities. While memory mechanisms have emerged as the architectural cornerstone of these systems,…

Recent large language models (LLMs) have demonstrated promising capabilities in modeling real-world knowledge and enhancing knowledge-based generation tasks. In this paper, we further explore the potential of using LLMs to aid in the design…

The long-standing vision of intelligent cities is to create efficient, livable, and sustainable urban environments using big data and artificial intelligence technologies. Recently, the advent of Large Language Models (LLMs) has opened new…

The integration of Large Language Models (LLMs) into robotics has unlocked unprecedented capabilities in high-level task planning. However, most current systems operate in an open-loop fashion, where LLMs act as one-shot planners, rendering…

Continuously learning new tasks using high-level ideas or knowledge is a key capability of humans. In this paper, we propose Lifelong reinforcement learning with Sequential linear temporal logic formulas and Reward Machines (LSRM), which…

Large language model (LLM) agents rely on reusable skills to solve complex tasks. However, existing skill creation approaches treat skills as isolated and static artifacts, limiting their reusability, reliability, and long-term improvement.…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

Large language model (LLM) agents are increasingly used for complex tasks, yet deployed agents often remain static, failing to adapt as user needs evolve. This creates a tension between the need for continuous service and the necessity of…

The transition from monolithic language models to modular, skill-equipped agents marks a defining shift in how large language models (LLMs) are deployed in practice. Rather than encoding all procedural knowledge within model weights, agent…

The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…

While current large language models (LLMs) perform well on many knowledge-related tasks, they are limited by relying on their parameters as an implicit storage mechanism. As a result, they struggle with memorizing rare events and with…