相关论文: Towards an LLM-Based Speech Interface for Robot-As…

Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…

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…

Large Language Models (LLM) and Vision Language Models (VLM) enable robots to ground natural language prompts into control actions to achieve tasks in an open world. However, when applied to a long-horizon collaborative task, this…

People with visual impairments perceive their environment non-visually and often use AI-powered assistive tools to obtain textual descriptions of visual information. Recent large vision-language model-based AI-powered tools like Be My AI…

This project introduces a Feeding Assistive Robot tailored to individuals with physical disabilities, including those with limited arm function or hand control. The core component is a precise 6-degree freedom robotic arm, operated…

Conventional Voice Assistants (VAs) rely on traditional language models to discern user intent and respond to their queries, leading to interactions that often lack a broader contextual understanding, an area in which Large Language Models…

Recent advancements in large language models (LLMs) have revolutionized various domains, bringing significant progress and new opportunities. Despite progress in speech-related tasks, LLMs have not been sufficiently explored in multi-talker…

Despite significant recent progress in the field of autonomous driving, modern methods still struggle and can incur serious accidents when encountering long-tail unforeseen events and challenging urban scenarios. On the one hand, large…

Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this challenge, we propose a novel, decentralized framework for…

Robot end users increasingly require accessible means of specifying tasks for robots to perform. Two common end-user programming paradigms include drag-and-drop interfaces and natural language programming. Although natural language…

Programming robot behavior in a complex world faces challenges on multiple levels, from dextrous low-level skills to high-level planning and reasoning. Recent pre-trained Large Language Models (LLMs) have shown remarkable reasoning ability…

Large Language Models (LLMs), AI models trained on massive text corpora with remarkable language understanding and generation capabilities, are transforming the field of Autonomous Driving (AD). As AD systems evolve from rule-based and…

This paper presents an improved system based on our prior work, designed to create explanations for autonomous robot actions during Human-Robot Interaction (HRI). Previously, we developed a system that used Large Language Models (LLMs) to…

While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…

Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…

We have reached a practical and realistic phase in human-support dialogue agents by developing a large language model (LLM). However, when requiring expert knowledge or anticipating the utterance content using the massive size of the…

Large Language Models (LLMs) have shown much promise in powering a variety of software engineering (SE) tools. Offering natural language as an intuitive interaction mechanism, LLMs have recently been employed as conversational ``programming…

Programming a robotic is a complex task, as it demands the user to have a good command of specific programming languages and awareness of the robot's physical constraints. We propose a framework that simplifies robot deployment by allowing…

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…

This paper explores the potential of constructing an AI spoken dialogue system that "thinks how to respond" and "thinks how to speak" simultaneously, which more closely aligns with the human speech production process compared to the current…