相关论文: Grounding Language Models with Semantic Digital Tw…

Translating natural language instructions into executable motion plans is a fundamental challenge in robotics. Traditional approaches are typically constrained by their reliance on domain-specific expertise to customize planners, and often…

Recent advances in robot manipulation increasingly leverage Vision-Language Models (VLMs) for high-level reasoning, such as decomposing task instructions into sequential action plans expressed in natural language that guide downstream…

Large Language models (LLMs) have shown remarkable success in assisting robot learning tasks, i.e., complex household planning. However, the performance of pretrained LLMs heavily relies on domain-specific templated text data, which may be…

Behavior Trees (BTs) offer a powerful paradigm for designing modular and reactive robot controllers. BT planning, an emerging field, provides theoretical guarantees for the automated generation of reliable BTs. However, BT planning…

Language-conditioned robot models have the potential to enable robots to perform a wide range of tasks based on natural language instructions. However, assessing their safety and effectiveness remains challenging because it is difficult to…

Large language models (LLMs) have demonstrated remarkable capabilities in natural language understanding and task generalization. However, their application to structured data analysis remains fragile due to inconsistencies in schema…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

We propose a promising neural network model with which to acquire a grounded representation of robot actions and the linguistic descriptions thereof. Properly responding to various linguistic expressions, including polysemous words, is an…

Are Large language models (LLMs) temporally grounded? Since LLMs cannot perceive and interact with the environment, it is impossible to answer this question directly. Instead, we provide LLMs with textual narratives and probe them with…

Much worldly semantic knowledge can be encoded in large language models (LLMs). Such information could be of great use to robots that want to carry out high-level, temporally extended commands stated in natural language. However, the lack…

Both humans and Large Language Models (LLMs) store a vast repository of semantic memories. In humans, efficient and strategic access to this memory store is a critical foundation for a variety of cognitive functions. Such access has long…

Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity…

Large language models(LLMs), with their powerful language generation and reasoning capabilities, have already achieved notable success in many domains, e.g., math and code generation. However, they often fall short when tackling real-life…

Language models (LMs) are pre-trained on raw text datasets to generate text sequences token-by-token. While this approach facilitates the learning of world knowledge and reasoning, it does not explicitly optimize for linguistic competence.…

Coordinating multi-robot systems (MRS) to search in unknown environments is particularly challenging for tasks that require semantic reasoning beyond geometric exploration. Classical coordination strategies rely on frontier coverage or…

Foundation models, e.g., large language models (LLMs), trained on internet-scale data possess zero-shot generalization capabilities that make them a promising technology towards detecting and mitigating out-of-distribution failure modes of…

The language-guided robot grasping task requires a robot agent to integrate multimodal information from both visual and linguistic inputs to predict actions for target-driven grasping. While recent approaches utilizing Multimodal Large…

Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a…

Despite the remarkable code generation abilities of large language models LLMs, they still face challenges in complex task handling. Robot development, a highly intricate field, inherently demands human involvement in task allocation and…

In this work, we propose an LLM-based BT generation framework to leverage the strengths of both for sequential manipulation planning. To enable human-robot collaborative task planning and enhance intuitive robot programming by nonexperts,…