相关论文: AMLSI: A Novel Accurate Action Model Learning Algo…

Broad learning system (BLS) has been proposed for a few years. It demonstrates an effective learning capability for many classification and regression problems. However, BLS and its improved versions are mainly used to deal with…

Efficient construction of models capturing the preconditions and effects of actions is essential for applying AI planning in real-world domains. Extensive prior work has explored learning such models from high-level descriptions of state…

The performance of deep neural networks improves with more annotated data. The problem is that the budget for annotation is limited. One solution to this is active learning, where a model asks human to annotate data that it perceived as…

This paper explores the integration of Large Language Models (LLMs) into Automatic Speech Recognition (ASR) systems to improve transcription accuracy. The increasing sophistication of LLMs, with their in-context learning capabilities and…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

We propose a novel approach for training large language models (LLMs) to adhere to objectives defined within a latent embedding space. Our method leverages reinforcement learning (RL), treating a pre-trained LLM as an environment. Our…

Effective planning is essential for the success of any task, from organizing a vacation to routing autonomous vehicles and developing corporate strategies. It involves setting goals, formulating plans, and allocating resources to achieve…

Active learning (AL) is a machine learning algorithm that can achieve greater accuracy with fewer labeled training instances, for having the ability to ask oracles to label the most valuable unlabeled data chosen iteratively and…

Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP methods rely heavily on the manual design of planning…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

While existing benchmarks probe the reasoning abilities of large language models (LLMs) across diverse domains, they predominantly assess passive reasoning, providing models with all the information needed to reach a solution. By contrast,…

The application of the Large Language Model (LLM) to robot action planning has been actively studied. The instructions given to the LLM by natural language may include ambiguity and lack of information depending on the task context. It is…

Automated planning algorithms require an action model specifying the preconditions and effects of each action, but obtaining such a model is often hard. Learning action models from observations is feasible, but existing algorithms for…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

Planning plays an important role in the broad class of decision theory. Planning has drawn much attention in recent work in the robotics and sequential decision making areas. Recently, Reinforcement Learning (RL), as an agent-environment…

Recent work on Neural-Symbolic systems that learn the discrete planning model from images has opened a promising direction for expanding the scope of Automated Planning and Scheduling to the raw, noisy data. However, previous work only…

In recent years, studies have been actively conducted on combining large language models (LLM) and robotics; however, most have not considered end-to-end feedback in the robot-motion generation phase. The prediction of deep neural networks…

Recent advances in NLP are brought by a range of large-scale pretrained language models (PLMs). These PLMs have brought significant performance gains for a range of NLP tasks, circumventing the need to customize complex designs for specific…

This study focuses on using large language models (LLMs) as a planner for embodied agents that can follow natural language instructions to complete complex tasks in a visually-perceived environment. The high data cost and poor sample…

Inspired by the exceptional general intelligence of Large Language Models (LLMs), researchers have begun to explore their application in pioneering the next generation of recommender systems - systems that are conversational, explainable,…