相关论文: Interpretable Locomotion Prediction in Constructio…

Objective: To develop and evaluate machine learning (ML) models for predicting length of stay (LOS) in elective spine surgery, with a focus on the benefits of temporal modeling and model interpretability. Materials and Methods: We compared…

We introduce LEGOMem, a modular procedural memory framework for multi-agent large language model (LLM) systems in workflow automation. LEGOMem decomposes past task trajectories into reusable memory units and flexibly allocates them across…

Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they have shown a lack of knowledge and effectiveness in planning…

Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Markov decision processes. During the…

Large Language Models (LLMs) handle physical commonsense information inadequately. As a result of being trained in a disembodied setting, LLMs often fail to predict an action's outcome in a given environment. However, predicting the effects…

Uncertainty estimation is a necessary component when implementing AI in high-risk settings, such as autonomous cars, medicine, or insurances. Large Language Models (LLMs) have seen a surge in popularity in recent years, but they are subject…

Predicting human behavior in shared environments is crucial for safe and efficient human-robot interaction. Traditional data-driven methods to that end are pre-trained on domain-specific datasets, activity types, and prediction horizons. In…

In this work, we present a novel framework for on-line human gait stability prediction of the elderly users of an intelligent robotic rollator using Long Short Term Memory (LSTM) networks, fusing multimodal RGB-D and Laser Range Finder…

Predicting human decision-making in high-stakes environments remains a central challenge for artificial intelligence. While large language models (LLMs) demonstrate strong general reasoning, they often struggle to generate consistent,…

Spatio-temporal forecasting plays a crucial role in various sectors such as transportation systems, logistics, and supply chain management. However, existing methods are limited by their ability to handle large, complex datasets. To…

Despite their success, Large-Language Models (LLMs) still face criticism due to their lack of interpretability. Traditional post-hoc interpretation methods, based on attention and gradient-based analysis, offer limited insights as they only…

This work introduces SAM-LLM, a novel hybrid architecture that bridges the gap between the contextual reasoning of Large Language Models (LLMs) and the physical precision of kinematic lane change models for autonomous driving. The system is…

Recent large language models (LLMs) have demonstrated promising capabilities in modeling real-world knowledge and enhancing knowledge-based generation tasks. In this paper, we further explore the potential of using LLMs to aid in the design…

Wearable robotics for lower-limb assistance have become a pivotal area of research, aiming to enhance mobility for individuals with physical impairments or augment the performance of able-bodied users. Accurate and adaptive control systems…

Due to the ever-changing nature of construction, many tasks on sites occur in an improvisational manner. Existing mobile construction robot studies remain limited in addressing improvisational tasks, where task-required locations, timing of…

Wearable AI systems aim to provide timely assistance in daily life, but existing approaches often rely on user initiation or predefined task knowledge, neglecting users' current mental states. We introduce ProMemAssist, a smart glasses…

Mimicking human ability to forecast future positions or interpret complex interactions in urban scenarios, such as streets, shopping malls or squares, is essential to develop socially compliant robots or self-driving cars. Autonomous…

Human intention-based systems enable robots to perceive and interpret user actions to interact with humans and adapt to their behavior proactively. Therefore, intention prediction is pivotal in creating a natural interaction with social…