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

This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end…

Large Language Models (LLMs) are becoming ubiquitous to create intelligent virtual assistants that assist users in interacting with a system, as exemplified in marketing. Although LLMs have been discussed in Modeling & Simulation (M&S), the…

We present a generative dialogue system capable of operating in a full-duplex manner, allowing for seamless interaction. It is based on a large language model (LLM) carefully aligned to be aware of a perception module, a motor function…

Conventional end-to-end Automatic Speech Recognition (ASR) models primarily focus on exact transcription tasks, lacking flexibility for nuanced user interactions. With the advent of Large Language Models (LLMs) in speech processing, more…

Modern industry is increasingly moving away from mass manufacturing, towards more specialized and personalized products. As manufacturing tasks become more complex, full automation is not always an option, human involvement may be required.…

Large language models (LLMs) can handle a wide variety of general tasks with simple prompts, without the need for task-specific training. Multimodal Large Language Models (MLLMs), built upon LLMs, have demonstrated impressive potential in…

Self-recognition -- the ability to maintain an internal representation of one's own body within the environment -- underpins intelligent, autonomous behavior. As a foundational component of the minimal self, self-recognition provides the…

Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

Effective prompt engineering is critical to realizing the promised productivity gains of large language models (LLMs) in knowledge-intensive tasks. Yet, many users struggle to craft prompts that yield high-quality outputs, limiting the…

Autonomous agents have long been a prominent research focus in both academic and industry communities. Previous research in this field often focuses on training agents with limited knowledge within isolated environments, which diverges…

Existing human-robot interaction systems often lack mechanisms for sustained personalization and dynamic adaptation in multi-user environments, limiting their effectiveness in real-world deployments. We present HARMONI, a multimodal…

Integrating large language models (LLMs) in autonomous vehicles enables conversation with AI systems to drive the vehicle. However, it also emphasizes the requirement for such systems to comprehend commands accurately and achieve…

Enabling robots to understand language instructions and react accordingly to visual perception has been a long-standing goal in the robotics research community. Achieving this goal requires cutting-edge advances in natural language…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

With the recent development of natural language generation models - termed as large language models (LLMs) - a potential use case has opened up to improve the way that humans interact with robot assistants. These LLMs should be able to…

Large Language Models (LLMs) have demonstrated impressive capabilities in role-playing scenarios, particularly in simulating domain-specific experts using tailored prompts. This ability enables LLMs to adopt the persona of individuals with…

Efforts have been made to make machines converse like humans in the past few decades. The recent techniques of Large Language Models (LLMs) make it possible to have human-like conversations with machines, but LLM's flaws of lacking…

This paper explores the effectiveness of Multimodal Large Language models (MLLMs) as assistive technologies for visually impaired individuals. We conduct a user survey to identify adoption patterns and key challenges users face with such…

In order to flexibly act in an everyday environment, a robotic agent needs a variety of cognitive capabilities that enable it to reason about plans and perform execution recovery. Large language models (LLMs) have been shown to demonstrate…