相关论文: GenCHiP: Generating Robot Policy Code for High-Pre…

Recently, there has been considerable attention towards leveraging large language models (LLMs) to enhance decision-making processes. However, aligning the natural language text instructions generated by LLMs with the vectorized operations…

Members of the Human-Robot Interaction (HRI) and Machine Learning (ML) communities have proposed Large Language Models (LLMs) as a promising resource for robotics tasks such as natural language interaction, household and workplace tasks,…

Multimodal Large Language Models (MLLMs) have shown impressive reasoning abilities and general intelligence in various domains. It inspires researchers to train end-to-end MLLMs or utilize large models to generate policies with…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

Effective communication is vital in healthcare, especially across language barriers, where non-verbal cues and gestures are critical. This paper presents a privacy-preserving vision-language framework for medical interpreter robots that…

Large language model (LLM)-driven agents are emerging as a powerful new paradigm for solving complex problems. Despite the empirical success of these practices, a theoretical framework to understand and unify their macroscopic dynamics…

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots…

The deployment of robots into human scenarios necessitates advanced planning strategies, particularly when we ask robots to operate in dynamic, unstructured environments. RoboCup offers the chance to deploy robots in one of those scenarios,…

We introduce Action-GPT, a plug-and-play framework for incorporating Large Language Models (LLMs) into text-based action generation models. Action phrases in current motion capture datasets contain minimal and to-the-point information. By…

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…

This paper introduces LLM-MARS, first technology that utilizes a Large Language Model based Artificial Intelligence for Multi-Agent Robot Systems. LLM-MARS enables dynamic dialogues between humans and robots, allowing the latter to generate…

In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes…

This work introduces a framework harnessing the capabilities of Large Language Models (LLMs) to generate primitive task conditions for generalizable long-horizon manipulations with novel objects and unseen tasks. These task conditions serve…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

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…

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…

We demonstrate experimental results with LLMs that address robotics task planning problems. Recently, LLMs have been applied in robotics task planning, particularly using a code generation approach that converts complex high-level…

We claim that LLMs can be paired with formal analysis methods to provide accessible, relevant feedback for HRI tasks. While logic specifications are useful for defining and assessing a task, these representations are not easily interpreted…

Recent large language models (LLMs) have demonstrated promising capabilities in modeling real-world knowledge and enhancing knowledge-based generation tasks. In this paper, we further explore the potential of using LLMs to aid in the design…

We propose a novel approach to multi-robot collaboration that harnesses the power of pre-trained large language models (LLMs) for both high-level communication and low-level path planning. Robots are equipped with LLMs to discuss and…