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

The integration of machine learning tools into telecom networks, has led to two prevailing paradigms, namely, language-based systems, such as Large Language Models (LLMs), and physics-based systems, such as Digital Twins (DTs). While…

The paper presents an approach to semantic grounding of language models (LMs) that conceptualizes the LM as a conditional model generating text given a desired semantic message formalized as a set of entity-relationship triples. It embeds…

We present a novel framework that integrates Large Language Models (LLMs) with automated planning and formal verification to streamline the creation and use of Markov Decision Processes (MDP). Our system leverages LLMs to extract structured…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

Heterogeneous robot teams operating in realistic settings often must accomplish complex missions requiring collaboration and adaptation to information acquired online. Because robot teams frequently operate in unstructured environments --…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

Large language models (LLMs) excel at processing and generating both text and code. However, LLMs have had limited applicability in grounded task-oriented dialogue as they are difficult to steer toward task objectives and fail to handle…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

In the rapidly evolving landscape of digital twins (DT) and 6G networks, the integration of large language models (LLMs) presents a novel approach to network management. This paper explores the application of LLMs in managing 6G-empowered…

Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid robots, memory also plays a critical role in fostering…

Large-scale natural language understanding (NLU) systems have made impressive progress: they can be applied flexibly across a variety of tasks, and employ minimal structural assumptions. However, extensive empirical research has shown this…

The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…

Vision-language models (VLMs) have achieved remarkable success in scene understanding and perception tasks, enabling robots to plan and execute actions adaptively in dynamic environments. However, most multimodal large language models lack…

The development of Digital Twins (DTs) represents a transformative advance for simulating and optimizing complex systems in a controlled digital space. Despite their potential, the challenge of constructing DTs that accurately replicate and…

Models designed for intelligent process automation are required to be capable of grounding user interface elements. This task of interface element grounding is centred on linking instructions in natural language to their target referents.…

In a rapidly evolving digital landscape autonomous tools and robots are becoming commonplace. Recognizing the significance of this development, this paper explores the integration of Large Language Models (LLMs) like Generative pre-trained…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Prompting robots with natural language (NL) has largely been studied as what task to execute (goal selection, skill sequencing) rather than how to execute that task safely and efficiently in semantically rich, human-centric spaces. We…

Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based…

Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…