相关论文: DKPROMPT: Domain Knowledge Prompting Vision-Langua…

This paper proposes a novel Large Vision-Language Model (LVLM) and Model Predictive Control (MPC) integration framework that delivers both task scalability and safety for Autonomous Driving (AD). LVLMs excel at high-level task planning…

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…

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…

Current domain-independent, classical planners require symbolic models of the problem domain and instance as input, resulting in a knowledge acquisition bottleneck. Meanwhile, although deep learning has achieved significant success in many…

Panoptic Scene Graph Generation (PSG) aims at achieving a comprehensive image understanding by simultaneously segmenting objects and predicting relations among objects. However, the long-tail problem among relations leads to unsatisfactory…

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…

Vision-and-Language Navigation (VLN) tasks require an agent to follow textual instructions to navigate through 3D environments. Traditional approaches use supervised learning methods, relying heavily on domain-specific datasets to train VLN…

Traditional Task and Motion Planning (TAMP) systems depend on physics models for motion planning and discrete symbolic models for task planning. Although physics model are often available, symbolic models (consisting of symbolic state…

Open-Vocabulary Mobile Manipulation (OVMM) is a crucial capability for autonomous robots, especially when faced with the challenges posed by unknown and dynamic environments. This task requires robots to explore and build a semantic…

Large language models (LLMs) have achieved remarkable success in a wide range of natural language processing tasks and can be adapted through prompting. However, they remain suboptimal in multi-turn interactions, often relying on incorrect…

In this paper, we argue that the next generation of robots can be commanded using only Language Models' prompts. Every prompt interrogates separately a specific Robotic Modality via its Modality Language Model (MLM). A central Task Modality…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

Reinforcement learning struggles in the face of long-horizon tasks and sparse goals due to the difficulty in manual reward specification. While existing methods address this by adding intrinsic rewards, they may fail to provide meaningful…

Large language models (LLMs) have taken the world by storm by making many previously difficult uses of AI feasible. LLMs are controlled via highly expressive textual prompts and return textual answers. Unfortunately, this unstructured text…

Task planning systems have been developed to help robots use human knowledge (about actions) to complete long-horizon tasks. Most of them have been developed for "closed worlds" while assuming the robot is provided with complete world…

Pretrained visual-language models have extensive world knowledge and are widely used in visual and language navigation (VLN). However, they are not sensitive to indoor scenarios for VLN tasks. Another challenge for VLN is how the agent…

Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…

Intelligent and reliable task planning is a core capability for generalized robotics, requiring a descriptive domain representation that sufficiently models all object and state information for the scene. We present CLIMB, a continual…

Prompt engineering has emerged as an indispensable technique for extending the capabilities of large language models (LLMs) and vision-language models (VLMs). This approach leverages task-specific instructions, known as prompts, to enhance…

Autonomous robots operating in open environments need the ability to continuously handle tasks that are not covered by predefined local methods. However, existing approaches often rely on repeated large-language-model (LLM) interaction for…