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The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…

Large language models (LLMs) have achieved notable progress. Despite their success, next-token prediction (NTP), the dominant method for LLM training and inference, is constrained in both contextual coverage and inference efficiency due to…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

Large Language Models (LLMs) have achieved impressive performance across diverse tasks but continue to struggle with learning transitive relations, a cornerstone for complex planning. To address this issue, we investigate the Multi-Token…

Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…

Much worldly semantic knowledge can be encoded in large language models (LLMs). Such information could be of great use to robots that want to carry out high-level, temporally extended commands stated in natural language. However, the lack…

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…

We present a novel framework that integrates Large Language Models (LLMs) with automated planning and formal verification to streamline the creation and use of Markov Decision Processes (MDP). Our system leverages LLMs to extract structured…

We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environments. Of late, TMP for manipulation has attracted significant interest resulting in a proliferation of different approaches. In contrast,…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…

This paper focuses on planning robot navigation tasks from natural language specifications. We develop a modular approach, where a large language model (LLM) translates the natural language instructions into a linear temporal logic (LTL)…

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…

Performing complex manipulation tasks in dynamic environments requires efficient Task and Motion Planning (TAMP) approaches that combine high-level symbolic plans with low-level motion control. Advances in Large Language Models (LLMs), such…

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…

Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…

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…

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…

Multi-Task Learning (MTL) networks have emerged as a promising method for transferring learned knowledge across different tasks. However, MTL must deal with challenges such as: overfitting to low resource tasks, catastrophic forgetting, and…

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…

Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT planning shows promise for generating reliable BTs. However,…