Related papers: Generalizable Skill Learning for Construction Robo…

Multi-task learning by robots poses the challenge of the domain knowledge: complexity of tasks, complexity of the actions required, relationship between tasks for transfer learning. We demonstrate that this domain knowledge can be learned…

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…

For a general-purpose robot to operate in reality, executing a broad range of instructions across various environments is imperative. Central to the reinforcement learning and planning for such robotic agents is a generalizable reward…

We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…

The manufacturing industry is undergoing a transformative shift, driven by cutting-edge technologies like 5G, AI, and cloud computing. Despite these advancements, effective system control, which is crucial for optimizing production…

Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to…

Current LLM coding agents are predominantly trained on composite benchmarks (e.g., bug fixing), which often leads to task-specific overfitting and limited generalization. To address this, we propose a novel scaling paradigm that shifts the…

Instruction-tuned large language models (LLMs) have demonstrated promising zero-shot generalization capabilities across various downstream tasks. Recent research has introduced multimodal capabilities to LLMs by integrating independently…

Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinesthetic demonstrations or to program simulation environments and…

Robotic manipulation faces a significant challenge in generalizing across unseen objects, environments and tasks specified by diverse language instructions. To improve generalization capabilities, recent research has incorporated large…

Controlling robots through natural language is pivotal for enhancing human-robot collaboration and synthesizing complex robot behaviors. Recent works that are trained on large robot datasets show impressive generalization abilities.…

With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments. To deliver these services…

Large language models and multimodal large language models have revolutionized artificial intelligence recently. An increasing number of regions are now embracing these advanced technologies. Within this context, robot coding education is…

The proliferation of Large Language Models (LLMs) has s fueled a shift in robot learning from automation towards general embodied Artificial Intelligence (AI). Adopting foundation models together with traditional learning methods to robot…

The rapid adoption of large language models (LLMs) in healthcare has been accompanied by scrutiny of their oversight. Existing monitoring approaches, inherited from traditional machine learning (ML), are task-based and founded on assumed…

Building effective machine learning (ML) workflows to address complex tasks is a primary focus of the Automatic ML (AutoML) community and a critical step toward achieving artificial general intelligence (AGI). Recently, the integration of…

Large language models (LLMs) hold promise for generating plans for complex tasks, but their effectiveness is limited by sequential execution, lack of control flow models, and difficulties in skill retrieval. Addressing these issues is…

While Large Language Models (LLMs) have demonstrated exceptional multitasking abilities, fine-tuning these models on downstream, domain-specific datasets is often necessary to yield superior performance on test sets compared to their…

This paper addresses the limited transfer and adaptation capabilities of large language models in low-resource language scenarios. It proposes a unified framework that combines a knowledge transfer module with parameter-efficient…

Large language models (LLMs) are routinely pre-trained on billions of tokens, only to start the process over again once new data becomes available. A much more efficient solution is to continually pre-train these models, saving significant…