相关论文: ProgPrompt: Generating Situated Robot Task Plans u…

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…

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…

Large language models (LLMs) demonstrate their promise in tackling complicated practical challenges by combining action-based policies with chain of thought (CoT) reasoning. Having high-quality prompts on hand, however, is vital to the…

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…

Large Language Models (LLMs) have shown prominent performance in various downstream tasks and prompt engineering plays a pivotal role in optimizing LLMs' performance. This paper, not only as an overview of current prompt engineering…

AI tasks encompass a wide range of domains and fields. While numerous AI models have been designed for specific tasks and applications, they often require considerable human efforts in finding the right model architecture, optimization…

Prompting robots with natural language (NL) has largely been studied as what task to execute (goal selection, skill sequencing) rather than how to execute that task safely and efficiently in semantically rich, human-centric spaces. We…

Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the…

Prompt engineering has emerged as an indispensable technique for extending the capabilities of large language models (LLMs) and vision-language models (VLMs). This approach leverages task-specific instructions, known as prompts, to enhance…

Interaction with Large Language Models (LLMs) is primarily carried out via prompting. A prompt is a natural language instruction designed to elicit certain behaviour or output from a model. In theory, natural language prompts enable…

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…

Prompt engineering is an increasingly important skill set needed to converse effectively with large language models (LLMs), such as ChatGPT. Prompts are instructions given to an LLM to enforce rules, automate processes, and ensure specific…

Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language models (LLMs) for task planning seeks to address the…

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…

Requirements classification assigns natural language requirements to predefined classes, such as functional and non functional. Accurate classification reduces risk and improves software quality. Most existing models rely on supervised…

Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in…

In modern industrial production, multiple robots often collaborate to complete complex manufacturing tasks. Large language models (LLMs), with their strong reasoning capabilities, have shown potential in coordinating robots for simple…

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…

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

This paper investigates using large language models (LLMs) to generate control actions directly, without requiring control-engineering expertise or hand-tuned algorithms. We implement several variants: (i) prompt-only, (ii) tool-assisted…