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Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…
Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…
Multilingual pre-trained language models (MPLMs) not only can handle tasks in different languages but also exhibit surprising zero-shot cross-lingual transferability. However, MPLMs usually are not able to achieve comparable supervised…
Transformer-based language models, though not explicitly trained to mimic brain recordings, have demonstrated surprising alignment with brain activity. Progress in these models-through increased size, instruction-tuning, and…
Large language models (LLMs) are very proficient text generators. We leverage this capability of LLMs to generate task-specific data via zero-shot prompting and promote cross-lingual transfer for low-resource target languages. Given…
Large Language Models (LLMs) are transforming the robotics domain by enabling robots to comprehend and execute natural language instructions. The cornerstone benefits of LLM include processing textual data from technical manuals,…
Large language models (LLMs) achieve impressive results over various tasks, and ever-expanding public repositories contain an abundance of pre-trained models. Therefore, identifying the best-performing LLM for a given task is a significant…
The ability to detect and analyze failed executions automatically is crucial for an explainable and robust robotic system. Recently, Large Language Models (LLMs) have demonstrated strong reasoning abilities on textual inputs. To leverage…
The convergence of embodied agents and large language models (LLMs) has brought significant advancements to embodied instruction following. Particularly, the strong reasoning capabilities of LLMs make it possible for robots to perform…
Hallucination, posed as a pervasive challenge of multi-modal large language models (MLLMs), has significantly impeded their real-world usage that demands precise judgment. Existing methods mitigate this issue with either training with…
The ability to wield tools was once considered exclusive to human intelligence, but it's now known that many other animals, like crows, possess this capability. Yet, robotic systems still fall short of matching biological dexterity. In this…
Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…
With rapid advances in code generation, reasoning, and problem-solving, Large Language Models (LLMs) are increasingly applied in robotics. Most existing work focuses on high-level tasks such as task decomposition. A few studies have…
While Large Language Models (LLMs) can solve many NLP tasks in zero-shot settings, applications involving embodied agents remain problematic. In particular, complex plans that require multi-step reasoning become difficult and too costly as…
While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…
Large Language Models (LLMs) have demonstrated remarkable performance across diverse tasks and exhibited impressive reasoning abilities by applying zero-shot Chain-of-Thought (CoT) prompting. However, due to the evolving nature of sentence…
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…
Large language models (LLMs) are revolutionizing education, with LLM-based agents playing a key role in simulating student behavior. A major challenge in student simulation is modeling the diverse learning patterns of students at various…
Traditional autonomous driving methods adopt a modular design, decomposing tasks into sub-tasks. In contrast, end-to-end autonomous driving directly outputs actions from raw sensor data, avoiding error accumulation. However, training an…
Imitation learning frameworks for robotic manipulation have drawn attention in the recent development of language model grounded robotics. However, the success of the frameworks largely depends on the coverage of the demonstration cases:…