Related papers: Natural Selection via Foundation Models for Soft R…

Robots are traditionally bounded by a fixed embodiment during their operational lifetime, which limits their ability to adapt to their surroundings. Co-optimizing control and morphology of a robot, however, is often inefficient due to the…

Vision-language models (VLMs) have demonstrated remarkable capabilities in understanding human-object interactions, but their application to robotic systems with non-humanoid morphologies remains largely unexplored. This work investigates…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Large Language Models (LLMs) pre-trained on internet-scale datasets have shown impressive capabilities in code understanding, synthesis, and general purpose question-and-answering. Key to their performance is the substantial prior knowledge…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

The Large Language Models (LLM) are increasingly being deployed in robotics to generate robot control programs for specific user tasks, enabling embodied intelligence. Existing methods primarily focus on LLM training and prompt design that…

Developing soft circuits from individual soft logic gates poses a unique challenge: with increasing numbers of logic gates, the design and implementation of circuits leads to inefficiencies due to mathematically unoptimized circuits and…

Multi-objective optimization problems (MOPs) are ubiquitous in real-world applications, presenting a complex challenge of balancing multiple conflicting objectives. Traditional evolutionary algorithms (EAs), though effective, often rely on…

Tool learning with foundation models aims to endow AI systems with the ability to invoke external resources -- such as APIs, computational utilities, and specialized models -- to solve complex tasks beyond the reach of standalone language…

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…

Designing functional transition metal complexes (TMCs) faces challenges due to the vast search space of metals and ligands, requiring efficient optimization strategies. Traditional genetic algorithms (GAs) are commonly used, employing…

We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…

Robot foundation models, particularly Vision-Language-Action (VLA) models, have garnered significant attention for their ability to enhance robot policy learning, greatly improving robot's generalization and robustness. OpenAI's recent…

Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…

Recent literature on fine-tuning Large Language Models highlights a fundamental debate. While Full Fine-Tuning (FFT) provides the representational plasticity required for high-entropy knowledge injection, Low-Rank Adaptation (LoRA) can…

Testing on real machines is indispensable for robotic control algorithms. In the context of learning-based algorithms, especially VLA models, demand for large-scale evaluation, i.e. testing a large number of models on a large number of…

In the automated co-design of soft robots, precisely adapting the material stiffness field to task environments is crucial for unlocking their full physical potential. However, mainstream platforms (e.g., EvoGym) strictly discretize the…

Foundation Models (FMs), e.g., large language models, possess attributes of intelligence which offer promise to endow a robot with the contextual understanding necessary to navigate complex, unstructured tasks in the wild. We see three core…