Related papers: Behavior Tree Generation using Large Language Mode…

Decomposing complex tasks into a sequence of simpler subtasks can improve learning efficiency for an autonomous agent. Reinforcement learning (RL) can be used to optimize agent policies to complete subtasks, but requires well-defined…

As mental health issues continue to rise globally, there is an increasing demand for accessible and scalable therapeutic solutions. Many individuals currently seek support from Large Language Models (LLMs), even though these models have not…

The human ability to learn, generalize, and control complex manipulation tasks through multi-modality feedback suggests a unique capability, which we refer to as dexterity intelligence. Understanding and assessing this intelligence is a…

As Large Language Models (LLMs) and other forms of Generative AI permeate various aspects of our lives, their application for learning and education has provided opportunities and challenges. This paper presents an investigation into the…

Interpretable policy representations like Behavior Trees (BTs) and Dynamic Motion Primitives (DMPs) enable robot skill transfer from human demonstrations, but each faces limitations: BTs require expert-crafted low-level actions, while DMPs…

This study proposes LiP-LLM: integrating linear programming and dependency graph with large language models (LLMs) for multi-robot task planning. In order for multiple robots to perform tasks more efficiently, it is necessary to manage the…

This paper presents MinionsLLM, a novel framework that integrates Large Language Models (LLMs) with Behavior Trees (BTs) and Formal Grammars to enable natural language control of multi-agent systems within arbitrary, user-defined…

Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…

Exploratoration and self-observation are key mechanisms of infant sensorimotor development. These processes are further guided by parental scaffolding accelerating skill and knowledge acquisition. In developmental robotics, this approach…

With rapid advances in code generation, reasoning, and problem-solving, Large Language Models (LLMs) are increasingly applied in robotics. Most existing work focuses on high-level tasks such as task decomposition. A few studies have…

This paper provides a comprehensive review of the current methods and metrics used to evaluate the performance of Large Language Models (LLMs) in code generation tasks. With the rapid growth in demand for automated software development,…

Large language models (LLMs) achieve remarkable advancements by leveraging tools to interact with environments, a critical step toward generalized AI. However, the standard supervised fine-tuning (SFT) approach, which relies on large-scale…

Predicting human decision-making in high-stakes environments remains a central challenge for artificial intelligence. While large language models (LLMs) demonstrate strong general reasoning, they often struggle to generate consistent,…

Modern high-stakes systems, such as healthcare or robotics, often generate vast streaming event sequences. Our goal is to design an efficient, plug-and-play tool to elicit logic tree-based explanations from Large Language Models (LLMs) to…

We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex…

This paper introduces a framework, called EMOTION, for generating expressive motion sequences in humanoid robots, enhancing their ability to engage in humanlike non-verbal communication. Non-verbal cues such as facial expressions, gestures,…

In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…

The language generation and reasoning capabilities of large language models (LLMs) have enabled conversational systems with impressive performance in a variety of tasks, from code generation, to composing essays, to passing STEM and legal…

Large language models (LLMs) are increasingly explored in robot manipulation, but many existing methods struggle to adapt to new environments. Many systems require either environment-specific policy training or depend on fixed prompts and…

Since the advent of Large Language Models (LLMs), various research based on such models have maintained significant academic attention and impact, especially in AI and robotics. In this paper, we propose a multi-agent framework with LLMs to…