Related papers: Preference-Based Long-Horizon Robotic Stacking wit…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

Large Language Models (LLMs) exhibit remarkably powerful capabilities. One of the crucial factors to achieve success is aligning the LLM's output with human preferences. This alignment process often requires only a small amount of data to…

Recent advances in Large Language Models (LLMs) have showcased their remarkable reasoning capabilities, making them influential across various fields. However, in robotics, their use has primarily been limited to manipulation planning tasks…

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…

With the rapid advancement of artificial intelligence, there is an increasing demand for intelligent robots capable of assisting humans in daily tasks and performing complex operations. Such robots not only require task planning…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Recently, large language models (LLMs) have notably positioned them as capable tools for addressing complex optimization challenges. Despite this recognition, a predominant limitation of existing LLM-based optimization methods is their…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…

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…

This work addresses the problem of long-horizon task planning with the Large Language Model (LLM) in an open-world household environment. Existing works fail to explicitly track key objects and attributes, leading to erroneous decisions in…

Large Language Models (LLMs) acquire extensive knowledge and remarkable abilities from extensive text corpora, making them powerful tools for various applications. To make LLMs more usable, aligning them with human preferences is essential.…

The rise of Large Language Models (LLMs) has driven progress in reasoning tasks -- from program synthesis to scientific hypothesis generation -- yet their ability to handle ranked preferences and structured algorithms in combinatorial…

The advantages of pre-trained large language models (LLMs) are apparent in a variety of language processing tasks. But can a language model's knowledge be further harnessed to effectively disambiguate objects and navigate decision-making…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

This work introduces a framework harnessing the capabilities of Large Language Models (LLMs) to generate primitive task conditions for generalizable long-horizon manipulations with novel objects and unseen tasks. These task conditions serve…

Multimodal recommender systems (MRS) integrate heterogeneous user and item data, such as text, images, and structured information, to enhance recommendation performance. The emergence of large language models (LLMs) introduces new…

This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

Large Language Models (LLMs) have achieved remarkable success in various fields, prompting several studies to explore their potential in recommendation systems. However, these attempts have so far resulted in only modest improvements over…