相关论文: HiCRISP: An LLM-based Hierarchical Closed-Loop Rob…

Enabling robot teams to execute natural language commands requires translating high-level instructions into feasible, efficient multi-robot plans. While Large Language Models (LLMs) combined with Planning Domain Description Language (PDDL)…

Recent advancements have significantly enhanced the performance of large language models (LLMs) in tackling complex reasoning tasks, achieving notable success in domains like mathematical and logical reasoning. However, these methods…

Large Language Models (LLMs) are able to improve their responses when instructed to do so, a capability known as self-correction. When instructions provide only the task's goal without specific details about potential issues in the…

Large Language Models (LLMs) have been successful at generating robot policy code, but so far these results have been limited to high-level tasks that do not require precise movement. It is an open question how well such approaches work for…

Large Language Models (LLMs) are increasingly deployed across diverse domains, raising the need for rigorous reliability assessment methods. Existing benchmark-based evaluations primarily offer descriptive statistics of model accuracy over…

Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…

Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to…

Large Language Models (LLMs) have shown strong promise for robotic task planning, particularly through the automatic generation of symbolic planning domains. However, prior work mainly treats generated domains as planning utilities. Such…

We demonstrate the ability of large language models (LLMs) to perform iterative self-improvement of robot policies. An important insight of this paper is that LLMs have a built-in ability to perform (stochastic) numerical optimization and…

Conversational recommender systems (CRSs) aim to recommend high-quality items to users through a dialogue interface. It usually contains multiple sub-tasks, such as user preference elicitation, recommendation, explanation, and item…

We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…

Prompt optimization aims to find the best prompt to a large language model (LLM) for a given task. LLMs have been successfully used to help find and improve prompt candidates for single-step tasks. However, realistic tasks for agents are…

Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…

Task planning systems have been developed to help robots use human knowledge (about actions) to complete long-horizon tasks. Most of them have been developed for "closed worlds" while assuming the robot is provided with complete world…

Large Language Models (LLMs) are able to improve their responses when instructed to do so, a capability known as self-correction. When instructions provide only a general and abstract goal without specific details about potential issues in…

To achieve natural and intuitive interaction with people, HRI frameworks combine a wide array of methods for human perception, intention communication, human-aware navigation and collaborative action. In practice, when encountering…

This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…

Parallel programs in high performance computing (HPC) continue to grow in complexity and scale in the exascale era. The diversity in hardware and parallel programming models make developing, optimizing, and maintaining parallel software…

The integration of Large Language Models (LLMs) into robotics has unlocked unprecedented capabilities in high-level task planning. However, most current systems operate in an open-loop fashion, where LLMs act as one-shot planners, rendering…