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Significant advancements has recently been achieved in the field of multi-modal large language models (MLLMs), demonstrating their remarkable capabilities in understanding and reasoning across diverse tasks. However, these models are often…

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…

Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task planning, and even…

Traditional control interfaces for quadruped robots often impose a high barrier to entry, requiring specialized technical knowledge for effective operation. To address this, this paper presents a novel control framework that integrates…

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…

Machine learning, artificial intelligence and especially deep learning based approaches are often used to simplify or eliminate the burden of programming industrial robots. Using these approaches robots inherently learn a skill instead of…

Large language models (LLMs) have recently emerged as promising tools for solving challenging robotic tasks, even in the presence of action and observation uncertainties. Recent LLM-based decision-making methods (also referred to as…

The field of machine learning (ML) has gained widespread adoption, leading to significant demand for adapting ML to specific scenarios, which is yet expensive and non-trivial. The predominant approaches towards the automation of solving ML…

Large language models (LLMs) have recently shown impressive performance on tasks involving reasoning, leading to a lively debate on whether these models possess reasoning capabilities similar to humans. However, despite these successes, the…

This paper introduces MotionGlot, a model that can generate motion across multiple embodiments with different action dimensions, such as quadruped robots and human bodies. By leveraging the well-established training procedures commonly used…

Building effective human-robot interaction requires robots to derive conclusions from their experiences that are both logically sound and communicated in ways aligned with human expectations. This paper presents a hybrid framework that…

Real-time multi-robot coordination in hazardous and adversarial environments requires fast, reliable adaptation to dynamic threats. While Large Language Models (LLMs) offer strong high-level reasoning capabilities, the lack of safety…

The potential of large language models (LLMs) to reason like humans has been a highly contested topic in Machine Learning communities. However, the reasoning abilities of humans are multifaceted and can be seen in various forms, including…

Reasoning is a core capability of large language models, yet how multi-step reasoning is learned and executed remains unclear. We study this question in a controlled cellular-automata (1dCA) framework that excludes memorisation by using…

Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of…

With extensive pre-trained knowledge and high-level general capabilities, large language models (LLMs) emerge as a promising avenue to augment reinforcement learning (RL) in aspects such as multi-task learning, sample efficiency, and…

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…

Long-term memory (LTM) is essential for large language models (LLMs) to achieve autonomous intelligence in complex, evolving environments. Despite increasing efforts in memory-augmented and retrieval-based architectures, there remains a…

In the present study, we investigate and compare reasoning in large language models (LLM) and humans using a selection of cognitive psychology tools traditionally dedicated to the study of (bounded) rationality. To do so, we presented to…

The pretrained large language models (LLMs) are finetuned with labeled data for better instruction following ability and alignment with human values. In this paper, we study the learning dynamics of LLM finetuning on reasoning tasks and…