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Large Language Models (LLMs) such as GPT-4, trained on huge amount of datasets spanning multiple domains, exhibit significant reasoning, understanding, and planning capabilities across various tasks. This study presents the first-ever work…
We propose a novel approach to multi-robot collaboration that harnesses the power of pre-trained large language models (LLMs) for both high-level communication and low-level path planning. Robots are equipped with LLMs to discuss and…
TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…
In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…
Large Language Models (LLMs) such as GPT-4 and Llama3 can already comprehend complex commands and process diverse tasks. This advancement facilitates their application in controlling drones and robots for various tasks. However, existing…
Autonomous navigation of terrestrial robots using Reinforcement Learning (RL) from LIDAR observations remains challenging due to the high dimensionality of sensor data and the sample inefficiency of model-free approaches. Conventional…
Efficient path planning in robotics, particularly within large-scale, complex environments, remains a significant hurdle. While Large Language Models (LLMs) offer strong reasoning capabilities, their high computational cost and limited…
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…
We demonstrate the ability of large language models (LLMs) to perform iterative self-improvement of robot policies. An important insight of this paper is that LLMs have a built-in ability to perform (stochastic) numerical optimization and…
Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…
Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…
Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in…
With the rapid advancement of artificial intelligence, there is an increasing demand for intelligent robots capable of assisting humans in daily tasks and performing complex operations. Such robots not only require task planning…
Integrating large language models (LLMs) in autonomous vehicles enables conversation with AI systems to drive the vehicle. However, it also emphasizes the requirement for such systems to comprehend commands accurately and achieve…
In recent years, large language models (LLMs) have rapidly proliferated and have been utilized in various tasks, including research in dialogue systems. We aimed to construct a system that not only leverages the flexible conversational…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…
The fusion of human-centric design and artificial intelligence (AI) capabilities has opened up new possibilities for next-generation autonomous vehicles that go beyond transportation. These vehicles can dynamically interact with passengers…