相关论文: Generating machine-executable plans from end-user'…

Generalist robots that can perform a range of different tasks in open-world settings must be able to not only reason about the steps needed to accomplish their goals, but also process complex instructions, prompts, and even feedback during…

Large Language Models (LLMs) demonstrate strong abilities in common-sense reasoning and interactive decision-making, but often struggle with complex, long-horizon planning tasks. Recent techniques have sought to structure LLM outputs using…

GPT-3 and several other language models (LMs) can effectively address various natural language processing (NLP) tasks, including machine translation and text summarization. Recently, they have also been successfully employed in the business…

Enabling home-assistant robots to perceive and manipulate a diverse range of 3D objects based on human language instructions is a pivotal challenge. Prior research has predominantly focused on simplistic and task-oriented instructions,…

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…

To make robots accessible to a broad audience, it is critical to endow them with the ability to take universal modes of communication, like commands given in natural language, and extract a concrete desired task specification, defined using…

Intelligent robots need to generate and execute plans. In order to deal with the complexity of real environments, planning makes some assumptions about the world. When executing plans, the assumptions are usually not met. Most works have…

In this technical report, we present our solution for the EgoPlan Challenge in ICML 2024. To address the real-world egocentric task planning problem, we introduce a novel planning framework which comprises three stages: long-term memory…

Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

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…

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…

Robotic instruction following tasks require seamless integration of visual perception, task planning, target localization, and motion execution. However, existing task planning methods for instruction following are either data-driven or…

Machine Learning (ML) is increasingly used to automate impactful decisions, which leads to concerns regarding their correctness, reliability, and fairness. We envision highly-automated software platforms to assist data scientists with…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…

Training generalist robot agents is an immensely difficult feat due to the requirement to perform a huge range of tasks in many different environments. We propose selectively training robots based on end-user preferences instead. Given a…

In the endeavor to make autonomous robots take actions, task planning is a major challenge that requires translating high-level task descriptions to long-horizon action sequences. Despite recent advances in language model agents, they…

Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…

How can we perform computations over natural language representations to solve tasks that require symbolic and numeric reasoning? We propose natural language embedded programs (NLEP) as a unifying framework for addressing math/symbolic…

In the field of robotics, researchers face a critical challenge in ensuring reliable and efficient task planning. Verifying high-level task plans before execution significantly reduces errors and enhance the overall performance of these…