Related papers: DEMONSTRATE: Zero-shot Language to Robotic Control…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

While large language models (LLMs) have shown great potential across various domains, their applications in robotics remain largely limited to static prompt-based behaviors and still face challenges in complex tasks under zero-shot or…

The impressive capabilities of Large Language Models (LLMs) have led to various efforts to enable robots to be controlled through natural language instructions, opening exciting possibilities for human-robot interaction The goal is for the…

Recent advancements in Large Language Models (LLMs) have sparked a revolution across many research fields. In robotics, the integration of common-sense knowledge from LLMs into task and motion planning has drastically advanced the field by…

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…

Large language models (LLMs) have emerged as powerful and general solutions to many natural language tasks. However, many of the most important applications of language generation are interactive, where an agent has to talk to a person to…

Reinforcement learning (RL) is a promising approach for robotic manipulation, but it can suffer from low sample efficiency and requires extensive exploration of large state-action spaces. Recent methods leverage the commonsense knowledge…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

Recently, Large Language Models (LLMs) have emerged as an alternative to training task-specific dialog agents, due to their broad reasoning capabilities and performance in zero-shot learning scenarios. However, many LLM-based dialog systems…

Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

This paper presents null-shot prompting. Null-shot prompting exploits hallucination in large language models (LLMs) by instructing LLMs to utilize information from the "Examples" section that never exists within the provided context to…

Reinforcement learning (RL) has demonstrated its capability in solving various tasks but is notorious for its low sample efficiency. In this paper, we propose RLingua, a framework that can leverage the internal knowledge of large language…

The advancements in large language models (LLMs) have brought significant progress in NLP tasks. However, if a task cannot be fully described in prompts, the models could fail to carry out the task. In this paper, we propose a simple yet…

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…

In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert…

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…

Visual reasoning is dominated by end-to-end neural networks scaled to billions of model parameters and training examples. However, even the largest models struggle with compositional reasoning, generalization, fine-grained spatial and…

Large Language Models (LLMs) have transformed NLP with their remarkable In-context Learning (ICL) capabilities. Automated assistants based on LLMs are gaining popularity; however, adapting them to novel tasks is still challenging. While…