相关论文: Robo-Instruct: Simulator-Augmented Instruction Ali…

A promising research direction in enabling LLMs to generate consistently correct code involves addressing their inability to properly estimate program execution, particularly for code they generate. In this work, we demonstrate that Code…

Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…

Large language models (LLMs) can perform a wide range of tasks by following natural language instructions, without the necessity of task-specific fine-tuning. Unfortunately, the performance of LLMs is greatly influenced by the quality of…

Recent advancements in open-source code large language models (LLMs) have been driven by fine-tuning on the data generated from powerful closed-source LLMs, which are expensive to obtain. This paper explores whether it is possible to use a…

In recent years, the rapid development of Large Language Models (LLMs) has significantly enhanced natural language understanding and human-computer interaction, creating new opportunities in the field of robotics. However, the integration…

Large language models (LLMs) hold the promise of solving diverse tasks when provided with appropriate natural language prompts. However, prompting often leads models to make predictions with lower accuracy compared to finetuning a model…

Large Language Models (LLMs) have recently emerged as planners for language-instructed agents, generating sequences of actions to accomplish natural language tasks. However, their reliability remains a challenge, especially in long-horizon…

Recent research explores optimization using large language models (LLMs) by either iteratively seeking next-step solutions from LLMs or directly prompting LLMs for an optimizer. However, these approaches exhibit inherent limitations,…

Training large language models (LLMs) to follow instructions has significantly enhanced their ability to tackle unseen tasks. However, despite their strong generalization capabilities, instruction-following LLMs encounter difficulties when…

Instruction tuning plays a pivotal role in Code Large Language Models (Code LLMs) for the task of program synthesis. Presently, two dominant paradigms for collecting tuning data are natural-instruct (human-written) and self-instruct…

Large Language Models (LLMs) have shown great potential in intelligent visualization systems, especially for domain-specific applications. Integrating LLMs into visualization systems presents challenges, and we categorize these challenges…

End-user robot programming grants users the flexibility to re-task robots in situ, yet it remains challenging for novices due to the need for specialized robotics knowledge. Large Language Models (LLMs) hold the potential to lower the…

This contribution is concerned with the following issue: can pretrained large language models (LLMs) be refined and customized to the point where they become virtual assistants helping experts with the effective use of a simulation tool? In…

Instruction tuning has emerged as the key in aligning large language models (LLMs) with specific task instructions, thereby mitigating the discrepancy between the next-token prediction objective and users' actual goals. To reduce the labor…

Large language models (LLMs) demonstrate remarkable capabilities in reasoning and code generation, enabling robotic manipulation to be initiated with just a single instruction. The LLM carries out various tasks by generating policy code…

Simulating learner actions helps stress-test open-ended interactive learning environments and prototype new adaptations before deployment. While recent studies show the promise of using large language models (LLMs) for simulating human…

Large Language Models (LLMs) have showcased remarkable capabilities in following human instructions. However, recent studies have raised concerns about the robustness of LLMs when prompted with instructions combining textual adversarial…

The Large Language Models (LLM) are increasingly being deployed in robotics to generate robot control programs for specific user tasks, enabling embodied intelligence. Existing methods primarily focus on LLM training and prompt design that…

Large Language Models (LLMs) have recently advanced many applications on software engineering tasks, particularly the potential for code generation. Among contemporary challenges, code generated by LLMs often suffers from inaccuracies and…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…