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The fusion of human-centric design and artificial intelligence (AI) capabilities has opened up new possibilities for next-generation autonomous vehicles that go beyond transportation. These vehicles can dynamically interact with passengers…

Modern software systems are subjected to various types of uncertainties arising from context, environment, etc. To this end, self-adaptation techniques have been sought out as potential solutions. Although recent advances in self-adaptation…

Large Language Models (LLMs) and Multimodal LLMs (MLLMs) have demonstrated immense potential in autonomous driving (AD) by offering human-like reasoning and open-world generalization. However, the excessive computational overhead and high…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret…

Large language models (LLMs) can translate natural language instructions into executable action plans for robotics, autonomous driving, and other domains. Yet, deploying LLM-driven planning in the physical world demands strict adherence to…

The use of generative artificial intelligence (AI) models is becoming ubiquitous in many fields. Though progress continues to be made, general purpose large language AI models (LLM) show a tendency to deliver creative answers, often called…

Planning is a fundamental task in artificial intelligence that involves finding a sequence of actions that achieve a specified goal in a given environment. Large language models (LLMs) are increasingly used for applications that require…

Sequential planning in large state space and action space quickly becomes intractable due to combinatorial explosion of the search space. Heuristic methods, like monte-carlo tree search, though effective for large state space, but struggle…

Natural-language-facilitated human-robot cooperation (NLC) refers to using natural language (NL) to facilitate interactive information sharing and task executions with a common goal constraint between robots and humans. Recently, NLC…

Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…

This paper explores the integration of linguistic inputs within robotic navigation systems, drawing upon the symbol interdependency hypothesis to bridge the divide between symbolic and embodied cognition. It examines previous work…

The springing up of Large Language Models (LLMs) has shifted the community from single-task-orientated natural language processing (NLP) research to a holistic end-to-end multi-task learning paradigm. Along this line of research endeavors…

Ensuring safe decision-making in autonomous vehicles remains a fundamental challenge despite rapid advances in end-to-end learning approaches. Traditional reinforcement learning (RL) methods rely on manually engineered rewards or sparse…

Autonomous vehicles (AVs) rely on sophisticated perception systems to interpret their surroundings, a cornerstone for safe navigation and decision-making. The integration of Large Language Models (LLMs) into AV perception frameworks offers…

The emergence of large language models (LLMs) opens new frontiers for unmanned aerial vehicle (UAVs), yet existing systems remain confined to predefined tasks due to hardware-software co-design challenges. This paper presents the first…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

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…

We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…

Large Language Models (LLMs), deep learning architectures with typically over 10 billion parameters, have recently begun to be integrated into various cyber-physical systems (CPS) such as robotics, industrial automation, and autopilot…