相关论文: Automatic Behavior Tree Expansion with LLMs for Ro…

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…

Data augmentation is a critical component of deep learning pipelines, enhancing model generalization by increasing dataset diversity. Traditional augmentation strategies rely on manually designed transformations, stochastic sampling, or…

Long-horizon planning in realistic environments requires the ability to reason over sequential tasks in high-dimensional state spaces with complex dynamics. Classical motion planning algorithms, such as rapidly-exploring random trees, are…

Future self-adaptive robots are expected to operate in highly dynamic environments while effectively managing uncertainties. However, identifying the sources and impacts of uncertainties in such robotic systems and defining appropriate…

Large Language Model (LLM) Agents have recently garnered increasing interest yet they are limited in their ability to learn from trial and error, a key element of intelligent behavior. In this work, we argue that the capacity to learn new…

Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the…

Reinforcement Learning (RL) is a powerful mathematical framework that allows robots to learn complex skills by trial-and-error. Despite numerous successes in many applications, RL algorithms still require thousands of trials to converge to…

Exploratoration and self-observation are key mechanisms of infant sensorimotor development. These processes are further guided by parental scaffolding accelerating skill and knowledge acquisition. In developmental robotics, this approach…

Robots need task planning methods to achieve goals that require more than individual actions. Recently, large language models (LLMs) have demonstrated impressive performance in task planning. LLMs can generate a step-by-step solution using…

Modern manufacturing demands robotic assembly systems with enhanced flexibility and reliability. However, traditional approaches often rely on programming tailored to each product by experts for fixed settings, which are inherently…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

The ability to wield tools was once considered exclusive to human intelligence, but it's now known that many other animals, like crows, possess this capability. Yet, robotic systems still fall short of matching biological dexterity. In this…

Robots are increasingly common in industry and daily life, such as in nursing homes where they can assist staff. A key challenge is developing intuitive interfaces for easy communication. The use of Large Language Models (LLMs) like GPT-4…

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…

Vision-Language Models (VLMs) demonstrate remarkable potential in robotic manipulation, yet challenges persist in executing complex fine manipulation tasks with high speed and precision. While excelling at high-level planning, existing VLM…

With the capabilities of understanding and executing natural language instructions, Large language models (LLMs) can potentially act as a powerful tool for textual data augmentation. However, the quality of augmented data depends heavily on…

Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…

With the rapid advancement of artificial intelligence, there is an increasing demand for intelligent robots capable of assisting humans in daily tasks and performing complex operations. Such robots not only require task planning…

This paper introduces a system designed to generate explanations for the actions performed by an autonomous robot in Human-Robot Interaction (HRI). Explainability in robotics, encapsulated within the concept of an eXplainable Autonomous…

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…