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Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…

Language agents based on large language models (LLMs) have demonstrated great promise in automating web-based tasks. Recent work has shown that incorporating advanced planning algorithms, e.g., tree search, is advantageous over reactive…

LLM-as-a-Judge models generate chain-of-thought (CoT) sequences intended to capture the step-bystep reasoning process that underlies the final evaluation of a response. However, due to the lack of human annotated CoTs for evaluation, the…

Robot end users increasingly require accessible means of specifying tasks for robots to perform. Two common end-user programming paradigms include drag-and-drop interfaces and natural language programming. Although natural language…

Offering rich contexts to Large Language Models (LLMs) has shown to boost the performance in various tasks, but the resulting longer prompt would increase the computational cost and might exceed the input limit of LLMs. Recently, some…

Robotic agents must master common sense and long-term sequential decisions to solve daily tasks through natural language instruction. The developments in Large Language Models (LLMs) in natural language processing have inspired efforts to…

The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…

We introduce an approach aimed at enhancing the reasoning capabilities of Large Language Models (LLMs) through an iterative preference learning process inspired by the successful strategy employed by AlphaZero. Our work leverages Monte…

Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT planning shows promise for generating reliable BTs. However,…

We introduce an interactive LLM-based framework designed to enhance the autonomy and robustness of domestic robots, targeting embodied intelligence. Our approach reduces reliance on large-scale data and incorporates a robot-agnostic…

By augmenting Large Language Models (LLMs) with external tools, their capacity to solve complex problems has been significantly enhanced. However, despite ongoing advancements in the parsing capabilities of LLMs, incorporating all available…

Autonomous driving in a crowded environment, e.g., a busy traffic intersection, is an unsolved challenge for robotics. The robot vehicle must contend with a dynamic and partially observable environment, noisy sensors, and many agents. A…

Large language models (LLMs) have been widely adopted due to their remarkable performance across various applications, driving the accelerated development of a large number of diverse models. However, these individual LLMs show limitations…

A key challenge in transportation planning is that the collective preferences of heterogeneous travelers often diverge from the policies produced by model-driven decision tools. This misalignment frequently results in implementation delays…

This study focuses on using large language models (LLMs) as a planner for embodied agents that can follow natural language instructions to complete complex tasks in a visually-perceived environment. The high data cost and poor sample…

Robots need task planning methods to achieve goals that require more than individual actions. Recently, large language models (LLMs) have demonstrated impressive performance in task planning. LLMs can generate a step-by-step solution using…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

Recent methodologies in LLM self-training mostly rely on LLM generating responses and filtering those with correct output answers as training data. This approach often yields a low-quality fine-tuning training set (e.g., incorrect plans or…

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…

Vision-Language Models (VLM) can generate plausible high-level plans when prompted with a goal, the context, an image of the scene, and any planning constraints. However, there is no guarantee that the predicted actions are geometrically…