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Enabling robots to perform precise and generalized manipulation in unstructured environments remains a fundamental challenge in embodied AI. While Vision-Language Models (VLMs) have demonstrated remarkable capabilities in semantic reasoning…

Enabling robots to understand instructions provided via spoken natural language would facilitate interaction between robots and people in a variety of settings in homes and workplaces. However, natural language instructions are often…

Robot caregiving should be personalized to meet the diverse needs of care recipients -- assisting with tasks as needed, while taking user agency in action into account. In physical tasks such as handover, bathing, dressing, and…

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots…

Despite the recent advancements of vision-language-action (VLA) models on a variety of robotics tasks, they suffer from critical issues such as poor generalizability to unseen tasks, due to their reliance on behavior cloning exclusively…

Prevailing methods for training Large Language Models (LLMs) as text encoders rely on contrastive losses that treat the model as a black box function, discarding its generative and reasoning capabilities in favor of static embeddings. We…

Assessing the reliability of Large Language Models (LLMs) by confidence elicitation is a prominent approach to AI safety in high-stakes applications, such as healthcare and finance. Existing methods either require expensive computational…

Despite the recent development in the topic of explainable AI/ML for image and text data, the majority of current solutions are not suitable to explain the prediction of neural network models when the datasets are tabular and their features…

Retrieval-Augmented Generation (RAG) integrates external knowledge to enhance Large Language Models (LLMs), yet systems remain susceptible to two critical flaws: providing correct answers without explicit grounded evidence and producing…

Consider a robot tasked with tidying a desk with a meticulously constructed Lego sports car. A human may recognize that it is not appropriate to disassemble the sports car and put it away as part of the "tidying." How can a robot reach that…

Generating explanation to explain its behavior is an essential capability for a robotic teammate. Explanations help human partners better understand the situation and maintain trust of their teammates. Prior work on robot generating…

This paper addresses the multi-faceted problem of robot grasping, where multiple criteria may conflict and differ in importance. We introduce a probabilistic framework, Grasp Ranking and Criteria Evaluation (GRaCE), which employs…

In the context of multi-step reasoning, e.g., with chain-of-thought, language models (LMs) can easily assign a high likelihood to incorrect steps. As a result, decoding strategies that optimize for solution likelihood often yield incorrect…

Large Language Models (LLMs) have demonstrated remarkable capabilities in natural language understanding and generation. However, their immense number of parameters and complex transformer-based architectures result in significant resource…

While much research has explored enhancing the reasoning capabilities of large language models (LLMs) in the last few years, there is a gap in understanding the alignment of these models with social values and norms. We introduce the task…

To facilitate the wider adoption of robotics, accessible programming tools are required for non-experts. Observational learning enables intuitive human skills transfer through hands-on demonstrations, but relying solely on visual input can…

Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…

Automatic Robotic Assembly Sequence Planning (RASP) can significantly improve productivity and resilience in modern manufacturing along with the growing need for greater product customization. One of the main challenges in realizing such…

Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…

Intelligent robots are redefining a multitude of critical domains but are still far from being fully capable of assisting human peers in day-to-day tasks. An important requirement of collaboration is for each teammate to maintain and…