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

Large language models (LLMs) have been shown to acquire sequence-level planning abilities during training, yet their planning behavior exhibited at inference time often appears short-sighted and inconsistent with these capabilities. We…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Although there has been rapid progress in endowing robots with the ability to solve complex manipulation tasks, generating control policies for bimanual robots to solve tasks involving two hands is still challenging because of the…

A common training approach for language models involves using a large-scale language model to expand a human-provided dataset, which is subsequently used for model training.This method significantly reduces training costs by eliminating the…

Large language models (LLMs) have changed the reality of how software is produced. Within the wider software engineering community, among many other purposes, they are explored for code generation use cases from different types of input. In…

The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…

Autonomous agents driven by Large Language Models (LLMs) offer enormous potential for automation. Early proof of this technology can be found in various demonstrations of agents solving complex tasks, interacting with external systems to…

Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the…

Robotic systems often face execution failures due to unexpected obstacles, sensor errors, or environmental changes. Traditional failure recovery methods rely on predefined strategies or human intervention, making them less adaptable. This…

Objective: Effective collaboration between machines and clinicians requires flexible data structures to represent medical processes and clinical practice guidelines. Such a data structure could enable effective turn-taking between human and…

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…

In recent years, large language models (LLMs) have been extensively utilized for behavioral modeling, for example, to automatically generate sequence diagrams. However, no overview of this work has been published yet. Such an overview will…

In robot task planning, large language models (LLMs) have shown significant promise in generating complex and long-horizon action sequences. However, it is observed that LLMs often produce responses that sound plausible but are not…

Large Language Model-based agents have garnered significant attention and are becoming increasingly popular. Furthermore, planning ability is a crucial component of an LLM-based agent, which generally entails achieving a desired goal from…

Large Language Models (LLMs) have demonstrated their remarkable capabilities in numerous fields. This survey focuses on how LLMs empower users, regardless of their technical background, to use human languages to automatically generate…

The rise of large language models (LLMs) has introduced transformative potential in automated code generation, addressing a wide range of software engineering challenges. However, empirical evaluation of LLM-based code generation lacks…

Large language model alignment is widely used and studied to avoid LLM producing unhelpful and harmful responses. However, the lengthy training process and predefined preference bias hinder adaptation to online diverse human preferences. To…

The use of large language models (LLMs) for automated code generation has emerged as a significant focus within AI research. As these pretrained models continue to evolve, their ability to understand and generate complex code structures has…

In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…

With recent advancements in natural language processing, Large Language Models (LLMs) have emerged as powerful tools for various real-world applications. Despite their prowess, the intrinsic generative abilities of LLMs may prove…