相关论文: Robot Behavior-Tree-Based Task Generation with Lar…

In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…

Designing effective task-level prompts is crucial for improving the performance of Large Language Models (LLMs). While prior work on instruction induction demonstrates that LLMs can infer better instructions with limited examples, existing…

Robotic systems for manipulation tasks are increasingly expected to be easy to configure for new tasks or unpredictable environments, while keeping a transparent policy that is readable and verifiable by humans. We propose the method…

Large Language Models (LLMs) are increasingly used as autonomous agents for multi-step tasks. However, most existing frameworks fail to maintain a structured understanding of the task state, often relying on linear prompt concatenation or…

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…

Pre-trained on massive amounts of code and text data, large language models (LLMs) have demonstrated remarkable achievements in performing code generation tasks. With additional execution-based feedback, these models can act as agents with…

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…

Prompt engineering is crucial for achieving reliable and effective outputs from large language models (LLMs), but its design requires specialized knowledge of prompting techniques and a deep understanding of target tasks. To address this…

Traditional robot task planning methods face challenges when dealing with highly unstructured environments and complex tasks. We propose a task planning method that combines human expertise with an LLM and have designed an LLM prompt…

Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decade. With rising demands on agent AI complexity, game…

Generative models reliant on sequential autoregression have been at the forefront of language generation for an extensive period, particularly following the introduction of widely acclaimed transformers. Despite its excellent performance,…

Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…

Business Process Management (BPM) is gaining increasing attention as it has the potential to cut costs while boosting output and quality. Business process document generation is a crucial stage in BPM. However, due to a shortage of…

We study the task of prompting large-scale language models to perform multi-step reasoning. Existing work shows that when prompted with a chain of thoughts (CoT), sequences of short sentences describing intermediate reasoning steps towards…

Large-scale pre-trained language models have demonstrated strong capabilities of generating realistic text. However, it remains challenging to control the generation results. Previous approaches such as prompting are far from sufficient,…

As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in embodied intelligence. Existing…

Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…

Task planning for robotic cooking involves generating a sequence of actions for a robot to prepare a meal successfully. This paper introduces a novel task tree generation pipeline producing correct planning and efficient execution for…

The ability to perform reliable long-horizon task planning is crucial for deploying robots in real-world environments. However, directly employing Large Language Models (LLMs) as action sequence generators often results in low success rates…

Integrating large language models (LLMs) into closed-loop robotic task planning has become increasingly popular within embodied artificial intelligence. Previous efforts mainly focused on leveraging the strong reasoning abilities of LLMs to…