相关论文: HBTP: Heuristic Behavior Tree Planning with Large …

Heuristics are a central component of deterministic planning, particularly in domain-independent settings where general applicability is prioritized over task-specific tuning. This work revisits that paradigm in light of recent advances in…

A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game. BTs are a very efficient way of creating complex systems that are both modular…

Prompt learning has become a prevalent strategy for adapting vision-language foundation models to downstream tasks. As large language models (LLMs) have emerged, recent studies have explored the use of category-related descriptions as input…

This paper introduces a simple and scalable approach to improve the data efficiency of large language model (LLM) training by augmenting existing text data with thinking trajectories. The compute for pre-training LLMs has been growing at an…

Recent advances in Large Language Models (LLMs) are fostering their integration into several reasoning-related fields, including Automated Planning (AP). However, their integration into Hierarchical Planning (HP), a subfield of AP that…

Recent studies explored integrating state-space search algorithms with Language Models (LM) to perform look-ahead on the token generation process, the ''Tree-of-Thoughts'' (ToT), generated by LMs, thereby improving performance on…

Assessing the effectiveness of large language models (LLMs) in performing different tasks is crucial for understanding their strengths and weaknesses. This paper presents Hierarchical Prompting Taxonomy (HPT), grounded on human cognitive…

Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decade. With rising demands on agent AI complexity, game…

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…

In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specifically, it is still difficult for robots to adapt the learned…

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…

Large Language Models (LLMs) have demonstrated remarkable reasoning capabilities, yet their standard generation process -- auto-regressive token prediction -- is inherently myopic and prone to cascading errors. To address this, the…

While systems designed for solving planning tasks vastly outperform Large Language Models (LLMs) in this domain, they usually discard the rich semantic information embedded within task descriptions. In contrast, LLMs possess parametrised…

Recent advances in robot learning increasingly rely on LLM-based task planning, leveraging their ability to bridge natural language with executable actions. While prior works showcased great performances, the widespread adoption of these…

Large Language Models (LLMs) have shown remarkable performance in various basic natural language tasks. For completing the complex task, we still need a plan for the task to guide LLMs to generate the specific solutions step by step. LLMs…

With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments. To deliver these services…

Large language models (LLMs) have shown remarkable reasoning capabilities, especially when prompted to generate intermediate reasoning steps (e.g., Chain-of-Thought, CoT). However, LLMs can still struggle with problems that are easy for…

Planning in complex environments requires an agent to efficiently query a world model to find a feasible sequence of actions from start to goal. Recent work has shown that Large Language Models (LLMs), with their rich prior knowledge and…

Real-time multi-robot coordination in hazardous and adversarial environments requires fast, reliable adaptation to dynamic threats. While Large Language Models (LLMs) offer strong high-level reasoning capabilities, the lack of safety…

This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end…