相关论文: Behavior Tree Generation using Large Language Mode…

Large Language Models (LLMs) have shown remarkable capabilities in code generation tasks, yet they face significant limitations in handling complex, long-context programming challenges and demonstrating complex compositional reasoning…

Behavioral testing in NLP allows fine-grained evaluation of systems by examining their linguistic capabilities through the analysis of input-output behavior. Unfortunately, existing work on behavioral testing in Machine Translation (MT) is…

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…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Interactive task planning with large language models (LLMs) enables robots to generate high-level action plans from natural language instructions. However, in long-horizon tasks, such approaches often require many questions, increasing user…

In this paper, we propose a robot oriented knowledge management system based on the use of the Prolog language. Our framework hinges on a special organisation of knowledge base that enables: 1. its efficient population from natural language…

Test and verification are essential activities in hardware and system design, but their complexity grows significantly with increasing system sizes. While Behavior Driven Development (BDD) has proven effective in software engineering, it is…

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…

Large language models are increasingly used as computational tools for modeling human-like behavior. We introduce a behavioral induction framework that modifies model policies through fine-tuning on structured decision-making tasks: using…

Producing accurate software models is crucial in model-driven software engineering (MDE). However, modeling complex systems is an error-prone task that requires deep application domain knowledge. In the past decade, several automated…

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

To improve the performance of large language models (LLMs), researchers have explored providing LLMs with textual task-solving experience via prompts. However, they rely on manual efforts to acquire and apply such experience for each task,…

This work leverages Large Language Models (LLMs) to simulate human mobility, addressing challenges like high costs and privacy concerns in traditional models. Our hierarchical framework integrates persona generation, activity selection, and…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

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…

Large pretrained models are showing increasingly better performance in reasoning and planning tasks across different modalities, opening the possibility to leverage them for complex sequential decision making problems. In this paper, we…

The rapid development of deep learning techniques, improved computational power, and the availability of vast training data have led to significant advancements in pre-trained models and large language models (LLMs). Pre-trained models…

Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…

Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…