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BatGPT is a large-scale language model designed and trained jointly by Wuhan University and Shanghai Jiao Tong University. It is capable of generating highly natural and fluent text in response to various types of input, including text…

Large language models (LLMs) provide powerful means to leverage prior knowledge for predictive modeling when data is limited. In this work, we demonstrate how LLMs can use their compressed world knowledge to generate intrinsically…

Large Language Models (LLMs) are frequently used for multi-faceted language generation and evaluation tasks that involve satisfying intricate user constraints or taking into account multiple aspects and criteria. However, their performance…

Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected…

Recently, dataset-generation-based zero-shot learning has shown promising results by training a task-specific model with a dataset synthesized from large pre-trained language models (PLMs). The final task-specific model often achieves…

In robotics, the use of Large Language Models (LLMs) is becoming prevalent, especially for understanding human commands. In particular, LLMs are utilized as domain-agnostic task planners for high-level human commands. LLMs are capable of…

We study how vision-language models trained on Internet-scale data can be incorporated directly into end-to-end robotic control to boost generalization and enable emergent semantic reasoning. Our goal is to enable a single end-to-end…

In recent years, multimodal large language models (MLLMs) such as GPT-4V have demonstrated remarkable advancements, excelling in a variety of vision-language tasks. Despite their prowess, the closed-source nature and computational demands…

Large Language Models (LLMs) have become ubiquitous across various domains, transforming the way we interact with information and conduct research. However, most high-performing LLMs remain confined behind proprietary walls, hindering…

We introduce Action-GPT, a plug-and-play framework for incorporating Large Language Models (LLMs) into text-based action generation models. Action phrases in current motion capture datasets contain minimal and to-the-point information. By…

Recent work has shown that language models (LMs) trained with multi-task \textit{instructional learning} (MTIL) can solve diverse NLP tasks in zero- and few-shot settings with improved performance compared to prompt tuning. MTIL illustrates…

Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid robots, memory also plays a critical role in fostering…

Text-to-motion (T2M) generation aims to control the behavior of a target character via textual descriptions. Leveraging text-motion paired datasets, existing T2M models have achieved impressive performance in generating high-quality motions…

It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understanding context-dependent commands. This study addresses the…

Robots often fail at everyday tasks because instructions skip commonsense details like hidden preconditions and small subgoals. Traditional symbolic planners need these details to be written explicitly, which is time consuming and often…

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.…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

The rapid advancement of Large Language Models (LLMs) has revolutionized various sectors by automating routine tasks, marking a step toward the realization of Artificial General Intelligence (AGI). However, they still struggle to…

This technical paper introduces a chatting robot system that utilizes recent advancements in large-scale language models (LLMs) such as GPT-3 and ChatGPT. The system is integrated with a co-speech gesture generation system, which selects…

While encoder-only models such as BERT and ModernBERT are ubiquitous in real-world NLP applications, their conventional reliance on task-specific classification heads can limit their applicability compared to decoder-based large language…