相关论文: Grounding Language Models with Semantic Digital Tw…
Large language models (LLMs) show their powerful automatic reasoning and planning capability with a wealth of semantic knowledge about the human world. However, the grounding problem still hinders the applications of LLMs in the real-world…
Digital Twins (DTs) represent digital counterparts of physical systems, assets, or processes, referred to as the actual twin (AT). DTs integrate heterogeneous data, models, and semantic technologies to support monitoring, simulation,…
Digital Twins (DTs) offer powerful tools for managing complex infrastructure systems, but their effectiveness is often limited by challenges in integrating unstructured knowledge. Recent advances in Large Language Models (LLMs) bring new…
Next-generation automotive applications require vehicular edge computing (VEC), but current management systems are essentially fixed and reactive. They are suboptimal in extremely dynamic vehicular environments because they are constrained…
Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…
Dynamic data-driven Digital Twins (DDTs) can enable informed decision-making and provide an optimisation platform for the underlying system. By leveraging principles of Dynamic Data-Driven Applications Systems (DDDAS), DDTs can formulate…
Building effective human-robot interaction requires robots to derive conclusions from their experiences that are both logically sound and communicated in ways aligned with human expectations. This paper presents a hybrid framework that…
Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in…
Planning algorithms decompose complex problems into intermediate steps that can be sequentially executed by robots to complete tasks. Recent works have employed Large Language Models (LLMs) for task planning, using natural language to…
Digital twins are models of real-world systems that can simulate their dynamics in response to potential actions. In complex settings, the state and action variables, and available data and knowledge relevant to a system can constantly…
Recent developments in Artificial Intelligence (AI) and Machine Learning (ML) are creating new opportunities for Human-Autonomy Teaming (HAT) in tasks, missions, and continuous coordinated activities. A major challenge is enabling humans to…
Multi-robot systems are emerging as a promising solution to the growing demand for productivity, safety, and adaptability across industrial sectors. However, effectively coordinating multiple robots in dynamic and uncertain environments,…
Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…
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…
This paper presents a novel design of a multi-agent system framework that applies large language models (LLMs) to automate the parametrization of simulation models in digital twins. This framework features specialized LLM agents tasked with…
Language models (LMs) have demonstrated their capability in possessing commonsense knowledge of the physical world, a crucial aspect of performing tasks in everyday life. However, it remains unclear **whether LMs have the capacity to…
The development of large language models (LLM) has revolutionized various fields and is anticipated to drive the advancement of autonomous systems. In the context of autonomous optical networks, creating a high-level cognitive agent in the…
Grounding navigational commands to linear temporal logic (LTL) leverages its unambiguous semantics for reasoning about long-horizon tasks and verifying the satisfaction of temporal constraints. Existing approaches require training data from…
Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…
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…