Related papers: CHOP: Mobile Operating Assistant with Constrained …

Crop monitoring is essential for precision agriculture, but current systems lack high-level reasoning. We introduce a novel, modular framework that uses a Visual Language Model (VLM) to guide robotic task planning, interleaving input…

A mobile manipulator often finds itself in an application where it needs to take a close-up view before performing a manipulation task. Named this as a coupled active perception and manipulation (CAPM) problem, we model the uncertainty in…

Software robots have long been used in Robotic Process Automation (RPA) to automate mundane and repetitive computer tasks. With the advent of Large Language Models (LLMs) and their advanced reasoning capabilities, these agents are now able…

In our pursuit of advancing multi-modal AI assistants capable of guiding users to achieve complex multi-step goals, we propose the task of "Visual Planning for Assistance (VPA)". Given a succinct natural language goal, e.g., "make a shelf",…

Owing to recent advancements, Large Language Models (LLMs) can now be deployed as agents for increasingly complex decision-making applications in areas including robotics, gaming, and API integration. However, reflecting past experiences in…

Language Model (LM) agents have demonstrated remarkable capabilities in solving tasks that require multiple interactions with the environment. However, they remain vulnerable in environments where a single error often leads to irrecoverable…

Large language models (LLMs) are commonly adapted for diverse downstream tasks via parameter-efficient fine-tuning techniques such as Low-Rank Adapters (LoRA). While adapters can be combined to handle multiple tasks separately, standard…

Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…

The rapid progress of navigation, manipulation, and vision models has made mobile manipulators capable in many specialized tasks. However, the open-world mobile manipulation (OWMM) task remains a challenge due to the need for generalization…

Addressing the challenge of a digital assistant capable of executing a wide array of user tasks, our research focuses on the realm of instruction-based mobile device control. We leverage recent advancements in large language models (LLMs)…

Long-term planning in complex, text-based environments presents significant challenges due to open-ended action spaces, ambiguous observations, and sparse feedback. Recent research suggests that large language models (LLMs) encode rich…

Large Language Models (LLMs) are increasingly being used for interactive decision-making tasks requiring planning and adapting to the environment. Recent works employ LLMs-as-agents in broadly two ways: iteratively determining the next…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

While intelligent virtual assistants like Siri, Alexa, and Google Assistant have become ubiquitous in modern life, they still face limitations in their ability to follow multi-step instructions and accomplish complex goals articulated in…

Large Language Models (LLMs) have achieved remarkable success across a wide range of tasks, but serving them efficiently at scale remains a critical challenge due to their substantial computational and latency demands. While most existing…

The ability to perform reliable long-horizon task planning is crucial for deploying robots in real-world environments. However, directly employing Large Language Models (LLMs) as action sequence generators often results in low success rates…

Robots are increasingly expected to execute open ended natural language requests in human environments, which demands reliable long horizon execution under partial observability. This is especially challenging for humanoids because…

Large Language Models (LLMs) have demonstrated exceptional abilities in reasoning for task planning. However, challenges remain under-explored for parallel schedules. This paper introduces a novel paradigm, plan-over-graph, in which the…

The rise of large language models (LLMs) has made natural language-driven route planning an emerging research area that encompasses rich user objectives. Current research exhibits two distinct approaches: direct route planning using…

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…