Related papers: Trajectory Adaptation using Large Language Models
Large language models (LLMs) trained on code completion have been shown to be capable of synthesizing simple Python programs from docstrings [1]. We find that these code-writing LLMs can be re-purposed to write robot policy code, given…
The rapid growth of large language models(LLMs) has emerged as a prominent trend in the field of artificial intelligence. However, current state-of-the-art LLMs are predominantly based on English. They encounter limitations when directly…
Humans often interact with large language models (LLMs) in multi-turn interaction to obtain desired answers or more information. However, most existing studies overlook the multi-turn instruction following ability of LLMs, in terms of…
Large Language Models (LLMs) have demonstrated human-like instruction-following abilities, particularly those exceeding 100 billion parameters. The combined capability of some smaller, resource-friendly LLMs can address most of the…
This research focuses on how Large Language Models (LLMs) can help with (path) planning for mobile embodied agents such as robots, in a human-in-the-loop and interactive manner. A novel framework named LLM A*, aims to leverage the…
We present a novel framework that integrates Large Language Models (LLMs) with automated planning and formal verification to streamline the creation and use of Markov Decision Processes (MDP). Our system leverages LLMs to extract structured…
With the advent of Large Language Models (LLMs), generating rule-based data for real-world applications has become more accessible. Due to the inherent ambiguity of natural language and the complexity of rule sets, especially in long…
Predicting human behavior in shared environments is crucial for safe and efficient human-robot interaction. Traditional data-driven methods to that end are pre-trained on domain-specific datasets, activity types, and prediction horizons. 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…
Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…
This paper presents the Language Aided Subset Sampling Based Motion Planner (LASMP), a system that helps mobile robots plan their movements by using natural language instructions. LASMP uses a modified version of the Rapidly Exploring…
An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…
Researchers have been studying approaches to steer the behavior of Large Language Models (LLMs) and build personalized LLMs tailored for various applications. While fine-tuning seems to be a direct solution, it requires substantial…
Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…
Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…
This paper presents a learning-based guidance-and-control approach that couples a reasoning-enabled Large Language Model (LLM) with Group Relative Policy Optimization (GRPO). A two-stage procedure consisting of Supervised Fine-Tuning (SFT)…
In model-driven engineering, metamodel evolution leads to the need to adapt corresponding grammars to maintain consistency, which typically requires tedious manual work. Existing rule-based methods can achieve partial automation but have…
This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…
Human guidance in reinforcement learning (RL) is often impractical for large-scale applications due to high costs and time constraints. Large Language Models (LLMs) offer a promising alternative to mitigate RL sample inefficiency and…
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…