相关论文: Safety Control of Service Robots with LLMs and Emb…
Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…
Knowledge Graphs (KGs) have emerged as fundamental platforms for powering intelligent decision-making and a wide range of Artificial Intelligence (AI) services across major corporations such as Google, Walmart, and AirBnb. KGs complement…
One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…
The potential use of large language models (LLMs) in healthcare robotics can help address the significant demand put on healthcare systems around the world with respect to an aging demographic and a shortage of healthcare professionals.…
Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dynamics, and the high risk of damage during interaction. Recent advances in learning-based control have shown great potential in…
Knowledge graphs play a vital role in numerous artificial intelligence tasks, yet they frequently face the issue of incompleteness. In this study, we explore utilizing Large Language Models (LLM) for knowledge graph completion. We consider…
The manufacturing industry is undergoing a transformative shift, driven by cutting-edge technologies like 5G, AI, and cloud computing. Despite these advancements, effective system control, which is crucial for optimizing production…
Electronic Health Records (EHRs) offer considerable potential for clinical prediction, but their complexity and heterogeneity challenge traditional machine learning. Domain-specific EHR foundation models trained on unlabeled EHR data have…
The ability of knowledge graphs to represent complex relationships at scale has led to their adoption for various needs including knowledge representation, question-answering, and recommendation systems. Knowledge graphs are often…
In recent years, as robotics has advanced, human-robot collaboration has gained increasing importance. However, current robots struggle to fully and accurately interpret human intentions from voice commands alone. Traditional gripper and…
Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…
Embodied AI robots have the potential to fundamentally improve the way human beings live and manufacture. Continued progress in the burgeoning field of using large language models to control robots depends critically on an efficient…
Reinforcement learning (RL) is a promising approach. However, success is limited to real-world applications, because ensuring safe exploration and facilitating adequate exploitation is a challenge for controlling robotic systems with…
Large Language Models (LLMs) have revolutionized Natural Language Processing (NLP) based applications including automated text generation, question answering, chatbots, and others. However, they face a significant challenge: hallucinations,…
Although the integration of large language models (LLMs) into robotics has unlocked transformative capabilities, it has also introduced significant safety concerns, ranging from average-case LLM errors (e.g., hallucinations) to adversarial…
Recent advancements have witnessed the ascension of Large Language Models (LLMs), endowed with prodigious linguistic capabilities, albeit marred by shortcomings including factual inconsistencies and opacity. Conversely, Knowledge Graphs…
The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…
Large Language Model (LLM)-based robotic assembly assistance has gained significant research attention. It requires the injection of domain-specific knowledge to guide the assembly process through natural language interaction with humans.…
Large Language Model (LLMs) such as ChatGPT that exhibit generative AI capabilities are facing accelerated adoption and innovation. The increased presence of Generative AI (GAI) inevitably raises concerns about the risks and safety…
Future robotic systems operating in real-world environments will require on-board embodied intelligence without continuous cloud connection, balancing capabilities with constraints on computational power and memory. This work presents an…