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

Recent research in behaviour understanding through language grounding has shown it is possible to automatically generate behaviour models from textual instructions. These models usually have goal-oriented structure and are modelled with…

While Pre-trained Language Models (PLMs) internalize a great amount of world knowledge, they have been shown incapable of recalling these knowledge to solve tasks requiring complex & multi-step reasoning. Similar to how humans develop a…

Large language models (LLMs) face significant challenges when balancing multiple high-level objectives, such as generating coherent, relevant, and high-quality responses while maintaining efficient task adaptation across diverse tasks. To…

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…

Large language models (LLMs) have demonstrated impressive capability in reasoning and planning when integrated with tree-search-based prompting methods. However, since these methods ignore the previous search experiences, they often make…

Autoregressive language models demonstrate excellent performance in various scenarios. However, the inference efficiency is limited by its one-step-one-word generation mode, which has become a pressing problem recently as the models become…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

This paper is concerned with the approximation of high-dimensional functions in a statistical learning setting, by empirical risk minimization over model classes of functions in tree-based tensor format. These are particular classes of…

We present an approach that generates kinodynamically feasible paths for robots using Rapidly-exploring Random Tree (RRT). We leverage motion primitives as a way to capture the dynamics of the robot and use these motion primitives to build…

This paper describes our submission for the End-to-end Multi-domain Task Completion Dialog shared task at the 9th Dialog System Technology Challenge (DSTC-9). Participants in the shared task build an end-to-end task completion dialog system…

Interpretable policy representations like Behavior Trees (BTs) and Dynamic Motion Primitives (DMPs) enable robot skill transfer from human demonstrations, but each faces limitations: BTs require expert-crafted low-level actions, while DMPs…

Despite recent advances in large language models, open-source models often struggle to consistently perform well on complex reasoning tasks. Existing ensemble methods, whether applied at the token or output levels, fail to address these…

This paper presents a framework towards prompting multi-robot teams with high-level tasks using natural language expressions. Our objective is to use the reasoning capabilities demonstrated by recent language models in understanding and…

Large language models optimized for instruction following and agentic tasks remain poorly aligned with the requirements of high-quality creative writing. Fiction frequently depends on behaviors that assistant-tuned models are explicitly…

Rapid progress in high-level task planning and code generation for open-world robot manipulation has been witnessed in Embodied AI. However, previous studies put much effort into general common sense reasoning and task planning capabilities…

Prompt-Tuning is a new paradigm for finetuning pre-trained language models in a parameter-efficient way. Here, we explore the use of HyperNetworks to generate hyper-prompts: we propose HyperPrompt, a novel architecture for prompt-based…

For a computer to naturally interact with a human, it needs to be human-like. In this paper, we propose a neural response generation model with multi-task learning of generation and classification, focusing on emotion. Our model based on…

Large pre-trained vision language models (VLMs) have shown impressive zero-shot ability on downstream tasks with manually designed prompt. To further adapt VLMs to downstream tasks, soft prompt is proposed to replace manually designed…

Interactive task planning with large language models (LLMs) enables robots to generate high-level action plans from natural language instructions. However, in long-horizon tasks, such approaches often require many questions, increasing user…

Various human activities can be abstracted into a sequence of actions in natural text, i.e. cooking, repairing, manufacturing, etc. Such action sequences heavily depend on the executing order, while disorder in action sequences leads to…