相关论文: Safety Control of Service Robots with LLMs and Emb…

Recent advances in LLM have been instrumental in autonomous robot control and human-robot interaction by leveraging their vast general knowledge and capabilities to understand and reason across a wide range of tasks and scenarios. Previous…

Embodied AI is one of the most popular studies in artificial intelligence and robotics, which can effectively improve the intelligence of real-world agents (i.e. robots) serving human beings. Scene knowledge is important for an agent to…

Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long…

Recently, large language models (LLMs) have shown strong potential in facilitating human-robotic interaction and collaboration. However, existing LLM-based systems often overlook the misalignment between human and robot perceptions, which…

A key limitation of learned robot control policies is their inability to generalize outside their training data. Recent works on vision-language-action models (VLAs) have shown that the use of large, internet pre-trained vision-language…

The Model Context Protocol (MCP) has emerged as the de facto standard for connecting Large Language Models (LLMs) to external data and tools, effectively functioning as the "USB-C for Agentic AI." While this decoupling of context and…

We investigate the use of Large Language Models (LLMs) to equip neural robotic agents with human-like social and cognitive competencies, for the purpose of open-ended human-robot conversation and collaboration. We introduce a modular and…

Question answering is a natural language understanding task that involves reasoning over both explicit context, and unstated relevant domain knowledge. Despite the high cost of training, large language models (LLMs) -- the backbone of most…

Large language models (LLMs) are useful tools with the capacity for performing specific types of knowledge work at an effective scale. However, LLM deployments in high-risk and safety-critical domains pose unique challenges, notably the…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

In long-horizon tasks, recent agents based on Large Language Models (LLMs) face a significant challenge that sparse, outcome-based rewards make it difficult to assign credit to intermediate steps. Previous methods mainly focus on creating…

Large Language Models (LLMs) are often criticized for lacking true "understanding" and the ability to "reason" with their knowledge, being seen merely as autocomplete systems. We believe that this assessment might be missing a nuanced…

Large Language Models (LLMs) have shown significant promise in real-world decision-making tasks for embodied artificial intelligence, especially when fine-tuned to leverage their inherent common sense and reasoning abilities while being…

We propose augmenting the empathetic capacities of social robots by integrating non-verbal cues. Our primary contribution is the design and labeling of four types of empathetic non-verbal cues, abbreviated as SAFE: Speech, Action (gesture),…

As large language models (LLMs) see wider real-world use, understanding and mitigating their unsafe behaviors is critical. Interpretation techniques can reveal causes of unsafe outputs and guide safety, but such connections with safety are…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Knowledge graph completion (KGC) aims to infer new knowledge and make predictions from knowledge graphs. Recently, large language models (LLMs) have exhibited remarkable reasoning capabilities. LLM-enhanced KGC methods primarily focus on…

As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…

Knowledge graphs (KGs) play a crucial role in many applications, such as question answering, but incompleteness is an urgent issue for their broad application. Much research in knowledge graph completion (KGC) has been performed to resolve…

Large Language Models (LLMs) have rapidly become integral to real-world applications, powering services across diverse sectors. However, their widespread deployment has exposed critical security risks, particularly through jailbreak prompts…