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

Significant advancements has recently been achieved in the field of multi-modal large language models (MLLMs), demonstrating their remarkable capabilities in understanding and reasoning across diverse tasks. However, these models are often…

Large language models (LLMs) remain prone to factual inaccuracies and computational errors, including hallucinations and mistakes in mathematical reasoning. Recent work augmented LLMs with tools to mitigate these shortcomings, but often…

This study proposes LiP-LLM: integrating linear programming and dependency graph with large language models (LLMs) for multi-robot task planning. In order for multiple robots to perform tasks more efficiently, it is necessary to manage the…

Large Language Models (LLMs) have demonstrated remarkable abilities, one of the most important being in-context learning (ICL). With ICL, LLMs can derive the underlying rule from a few demonstrations and provide answers that comply with the…

Large Language Models (LLMs) have advanced rapidly in recent years, demonstrating strong capabilities in problem comprehension and reasoning. Inspired by these developments, researchers have begun exploring the use of LLMs as decentralized…

The human ability to learn, generalize, and control complex manipulation tasks through multi-modality feedback suggests a unique capability, which we refer to as dexterity intelligence. Understanding and assessing this intelligence is a…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Q-learning excels in learning from feedback within sequential decision-making tasks but often requires extensive sampling to achieve significant improvements. While reward shaping can enhance learning efficiency, non-potential-based methods…

The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the…

Large Language Models (LLMs) have demonstrated promising reasoning capabilities in robotics; however, their application in multi-robot systems remains limited, particularly in handling task dependencies. This paper introduces DART-LLM, a…

The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…

Demonstrations and natural language instructions are two common ways to specify and teach robots novel tasks. However, for many complex tasks, a demonstration or language instruction alone contains ambiguities, preventing tasks from being…

Large language models (LLMs) frequently hallucinate on abstractive summarization tasks such as document-based question-answering, meeting summarization, and clinical report generation, even though all necessary information is included in…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

Scaling data and models has played a pivotal role in the remarkable progress of computer vision and language. Inspired by these domains, recent efforts in robotics have similarly focused on scaling both data and model size to develop more…

In robot manipulation, Reinforcement Learning (RL) often suffers from low sample efficiency and uncertain convergence, especially in large observation and action spaces. Foundation Models (FMs) offer an alternative, demonstrating promise in…

Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets,…

In-Context Learning (ICL) enhances the performance of large language models (LLMs) with demonstrations. However, obtaining these demonstrations primarily relies on manual effort. In most real-world scenarios, users are often unwilling or…

In the domain of data science, the predictive tasks of classification, regression, and imputation of missing values are commonly encountered challenges associated with tabular data. This research endeavors to apply Large Language Models…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…