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Large Language Models (LLMs) trained on extensive textual corpora have emerged as leading solutions for a broad array of Natural Language Processing (NLP) tasks. Despite their notable performance, these models are prone to certain…

Performing complex manipulation tasks in dynamic environments requires efficient Task and Motion Planning (TAMP) approaches that combine high-level symbolic plans with low-level motion control. Advances in Large Language Models (LLMs), such…

While Large Language Models (LLMs) have exhibited remarkable emergent capabilities through extensive pre-training, they still face critical limitations in generalizing to specialized domains and handling diverse linguistic variations, known…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world robotic tasks are limited by the lack of grounding in the surrounding scene. In this…

To improve the efficiency of warehousing system and meet huge customer orders, we aim to solve the challenges of dimension disaster and dynamic properties in hyper scale multi-robot task planning (MRTP) for robotic mobile fulfillment system…

Recent progress in Language Models (LMs) has dramatically advanced the field of natural language processing (NLP), excelling at tasks like text generation, summarization, and question answering. However, their inference remains…

Large Language Models (LLMs) have shown promise as robotic planners but often struggle with long-horizon and complex tasks, especially in specialized environments requiring external knowledge. While hierarchical planning and…

This paper introduces LLM-MARS, first technology that utilizes a Large Language Model based Artificial Intelligence for Multi-Agent Robot Systems. LLM-MARS enables dynamic dialogues between humans and robots, allowing the latter to generate…

This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…

Translating natural language (NL) into a formal language such as temporal logic (TL) is integral for human communication with robots and autonomous systems. State-of-the-art approaches decompose the task into a lifting of atomic…

There emerges a promising trend of using large language models (LLMs) to generate code-like plans for complex inference tasks such as visual reasoning. This paradigm, known as LLM-based planning, provides flexibility in problem solving and…

Designing robotic hand morphologies for diverse manipulation tasks requires balancing dexterity, manufacturability, and task-specific functionality. While open-source frameworks and parametric tools support reproducible design, they still…

This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…

In dynamic open-world environments, autonomous agents often encounter novelties that hinder their ability to find plans to achieve their goals. Specifically, traditional symbolic planners fail to generate plans when the robot's planning…

Test-time scaling has emerged as a promising paradigm in language modeling, leveraging additional computational resources at inference time to enhance model performance. In this work, we introduce R2-LLMs, a novel and versatile hierarchical…

This paper considers the motion control and task planning problem of mobile robots under complex high-level tasks and human initiatives. The assigned task is specified as Linear Temporal Logic (LTL) formulas that consist of hard and soft…

The socially-aware navigation system has evolved to adeptly avoid various obstacles while performing multiple tasks, such as point-to-point navigation, human-following, and -guiding. However, a prominent gap persists: in Human-Robot…

Reinforcement Learning from Human Feedback (RLHF) is a pivotal technique for empowering large language model (LLM) applications. Compared with the supervised training process of LLMs, the RLHF training process is much more sophisticated,…

Pretrained large language models (LLMs) are currently state-of-the-art for solving the vast majority of natural language processing tasks. While many real-world applications still require fine-tuning to reach satisfactory levels of…