相关论文: How Much Do Large Language Models Know about Human…

Human models play a crucial role in human-robot interaction (HRI), enabling robots to consider the impact of their actions on people and plan their behavior accordingly. However, crafting good human models is challenging; capturing…

Large multimodal models exhibit remarkable intelligence, yet their embodied cognitive abilities during motion in open-ended urban 3D space remain to be explored. We introduce a benchmark to evaluate whether video-large language models…

The Multi-Modal Large Language Model (MLLM) refers to an extension of the Large Language Model (LLM) equipped with the capability to receive and infer multi-modal data. Spatial awareness stands as one of the crucial abilities of MLLM,…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Recent large language models (LLMs) are capable of planning robot actions. In this paper, we explore how LLMs can be used for planning actions with tasks involving situational human-robot interaction (HRI). A key problem of applying LLMs in…

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…

Despite the ubiquity of large language models (LLMs) in AI research, the question of embodiment in LLMs remains underexplored, distinguishing them from embodied systems in robotics where sensory perception directly informs physical action.…

The world knowledge and reasoning capabilities of text-based large language models (LLMs) are advancing rapidly, yet current approaches to human motion understanding, including motion question answering and captioning, have not fully…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Large Vision-Language Models (LVLMs) have demonstrated remarkable capabilities in processing both visual and textual information. However, the critical challenge of alignment between visual and textual representations is not fully…

Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assistance. This requires extensive exploitation of intrinsic…

Various methods have been proposed for utilizing Large Language Models (LLMs) in autonomous driving. One strategy of using LLMs for autonomous driving involves inputting surrounding objects as text prompts to the LLMs, along with their…

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…

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…

Large Language Models(LLMs) have shown remarkable emergent abilities in unifying almost all (if not every) NLP tasks. In the human motion-related realm, however, researchers still develop siloed models for each task. Inspired by InstuctGPT,…

Flight trajectory prediction is a critical time series task in aviation. While deep learning methods have shown significant promise, the application of large language models (LLMs) to this domain remains underexplored. This study pioneers…

In recent years, the integration of large language models (LLMs) has revolutionized the field of robotics, enabling robots to communicate, understand, and reason with human-like proficiency. This paper explores the multifaceted impact of…

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…

Learning reward functions for physical skills are challenging due to the vast spectrum of skills, the high-dimensionality of state and action space, and nuanced sensory feedback. The complexity of these tasks makes acquiring expert…

Predicting the locations an individual will visit in the future is crucial for solving many societal issues like disease diffusion and reduction of pollution. However, next-location predictors require a significant amount of…