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Pre-trained large language models (LLMs) show promise for robotic task planning but often struggle to guarantee correctness in long-horizon problems. Task and motion planning (TAMP) addresses this by grounding symbolic plans in low-level…

Large Language Models (LLMs) have been transformative. They are pre-trained foundational models that are self-supervised and can be adapted with fine tuning to a wide range of natural language tasks, each of which previously would have…

In social robotics, a pivotal focus is enabling robots to engage with humans in a more natural and seamless manner. The emergence of advanced large language models (LLMs) such as Generative Pre-trained Transformers (GPTs) and autoregressive…

Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

Large Language Models (LLMs) trained on extensive textual corpora have emerged as leading solutions for a broad array of Natural Language Processing (NLP) tasks. Despite their notable performance, these models are prone to certain…

Large Language models (LLMs) have shown remarkable success in assisting robot learning tasks, i.e., complex household planning. However, the performance of pretrained LLMs heavily relies on domain-specific templated text data, which may be…

Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based…

Large Language Models (LLMs), AI models trained on massive text corpora with remarkable language understanding and generation capabilities, are transforming the field of Autonomous Driving (AD). As AD systems evolve from rule-based and…

Most Human-Machine Interaction (HMI) research overlooks the maneuvering needs of passengers in autonomous driving (AD). Natural language offers an intuitive interface, yet translating passenger open-ended instructions into control signals,…

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…

Large Language Models (LLMs) represent a class of deep learning models adept at understanding natural language and generating coherent responses to various prompts or queries. These models far exceed the complexity of conventional neural…

This paper introduces ACTLLM (Action Consistency Tuned Large Language Model), a novel approach for robot manipulation in dynamic environments. Traditional vision-based systems often struggle to learn visual representations that excel in…

Large Language Models (LLMs) have shown remarkable performance in various basic natural language tasks. For completing the complex task, we still need a plan for the task to guide LLMs to generate the specific solutions step by step. LLMs…

Despite significant recent progress in the field of autonomous driving, modern methods still struggle and can incur serious accidents when encountering long-tail unforeseen events and challenging urban scenarios. On the one hand, large…

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…

Large Vision-Language Models (LVLMs) or multimodal large language models represent a significant advancement in artificial intelligence, enabling systems to understand and generate content across both visual and textual modalities. While…

Large language models (LLMs) enable system builders today to create competent NLP systems through prompting, where they only need to describe the task in natural language and provide a few examples. However, in other ways, LLMs are a step…

This paper focuses on planning robot navigation tasks from natural language specifications. We develop a modular approach, where a large language model (LLM) translates the natural language instructions into a linear temporal logic (LTL)…

In recent years, the rapid development of Large Language Models (LLMs) has significantly enhanced natural language understanding and human-computer interaction, creating new opportunities in the field of robotics. However, the integration…