相关论文: TidyBot: Personalized Robot Assistance with Large …

Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…

Personalizing large language models (LLMs) is essential for delivering tailored interactions that improve user experience. Many existing personalization methods require fine-tuning LLMs for each user, rendering them prohibitively expensive…

Controlling robots to perform tasks via natural language is one of the most challenging topics in human-robot interaction. In this work, we present a robot system that follows unconstrained language instructions to pick and place arbitrary…

This paper presents a framework that can interpret humans' navigation commands containing temporal elements and directly translate their natural language instructions into robot motion planning. Central to our framework is utilizing Large…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Large Language Models (LLMs) are increasingly serving as personal assistants, where users share complex and diverse preferences over extended interactions. However, assessing how well LLMs can follow these preferences in realistic,…

Large Language Models (LLMs) are a transformational technology, fundamentally changing how people obtain information and interact with the world. As people become increasingly reliant on them for an enormous variety of tasks, a body of…

TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…

Pretrained large language models (LLMs) are becoming increasingly powerful and ubiquitous in mainstream applications such as being a personal assistant, a dialogue model, etc. As these models become proficient in deducing user preferences…

Aligning large language models (LLMs) with human intentions has become a critical task for safely deploying models in real-world systems. While existing alignment approaches have seen empirical success, theoretically understanding how these…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

Domestic service robots offer a solution to the increasing demand for daily care and support. A human-in-the-loop approach that combines automation and operator intervention is considered to be a realistic approach to their use in society.…

We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, contact-constrained locations. With PvP, we approach the…

Personalization plays a critical role in numerous language tasks and applications, since users with the same requirements may prefer diverse outputs based on their individual interests. This has led to the development of various…

We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…

The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…

When we read, we make predictions about upcoming words; these predictions influence our reading behavior. The success of large language models (LLMs), which, like humans, make predictions about upcoming words, has motivated their use as…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

Large language models (LLMs) are primarily accessed via commercial APIs, but this often requires users to expose their data to service providers. In this paper, we explore how users can stay in control of their data by using privacy…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…