Related papers: Bootstrapping Human-Like Planning via LLMs
End-user development allows everyday users to tailor service robots or applications to their needs. One user-friendly approach is natural language programming. However, it encounters challenges such as an expansive user expression space and…
In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…
This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…
Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most…
Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the…
Large Language Models (LLMs) are transforming programming practices, offering significant capabilities for code generation activities. While researchers have explored the potential of LLMs in various domains, this paper focuses on their use…
Large language models (LLMs) have shown significant potential for robotics applications, particularly task planning, by harnessing their language comprehension and text generation capabilities. However, in applications such as household…
Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…
Interaction with Large Language Models (LLMs) is primarily carried out via prompting. A prompt is a natural language instruction designed to elicit certain behaviour or output from a model. In theory, natural language prompts enable…
Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…
We demonstrate experimental results with LLMs that address robotics task planning problems. Recently, LLMs have been applied in robotics task planning, particularly using a code generation approach that converts complex high-level…
Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…
Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…
Prompting robots with natural language (NL) has largely been studied as what task to execute (goal selection, skill sequencing) rather than how to execute that task safely and efficiently in semantically rich, human-centric spaces. We…
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,…
Simulation is an invaluable tool for developing and evaluating controllers for self-driving cars. Current simulation frameworks are driven by highly-specialist domain specific languages, and so a natural language interface would greatly…
As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…
A Language Model is a term that encompasses various types of models designed to understand and generate human communication. Large Language Models (LLMs) have gained significant attention due to their ability to process text with human-like…
Recent advances in large language models (LLMs) have demonstrated their potential as planners in human-robot collaboration (HRC) scenarios, offering a promising alternative to traditional planning methods. LLMs, which can generate…
For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…