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

Recent work on using natural language to specify commands to robots has grounded that language to LTL. However, mapping natural language task specifications to LTL task specifications using language models require probability distributions…

Despite achieving remarkable success in complex tasks, Deep Reinforcement Learning (DRL) is still suffering from critical issues in practical applications, such as low data efficiency, lack of interpretability, and limited cross-environment…

Large language models (LLMs) show remarkable capabilities across a variety of tasks. Despite the models only seeing text in training, several recent studies suggest that LLM representations implicitly capture aspects of the underlying…

Recent advances in large language models (LLMs) have demonstrated strong capabilities in software engineering tasks, raising expectations of revolutionary productivity gains. However, enterprise software development is largely driven by…

Reinforcement learning (RL) has demonstrated great potential in robotic operations. However, its data-intensive nature and reliance on the Markov Decision Process (MDP) assumption limit its practical deployment in real-world scenarios…

Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this challenge, we propose a novel, decentralized framework for…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

The use of Large Language Models (LLMs) for generating Behavior Trees (BTs) has recently gained attention in the robotics community, yet remains in its early stages of development. In this paper, we propose a novel framework that leverages…

This study focuses on using large language models (LLMs) as a planner for embodied agents that can follow natural language instructions to complete complex tasks in a visually-perceived environment. The high data cost and poor sample…

Despite a widespread success in various applications, large language models (LLMs) often stumble when tackling basic physical reasoning or executing robotics tasks, due to a lack of direct experience with the physical nuances of the real…

Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Integrating natural language (NL) prompts into robotic mission planning has attracted significant interest in recent years. In the construction domain, Building Information Models (BIM) encapsulate rich NL descriptions of the environment.…

Foundation models that incorporate language, vision, and more recently actions have revolutionized the ability to harness internet scale data to reason about useful tasks. However, one of the key challenges of training embodied foundation…

Recent large language models (LLMs) have demonstrated remarkable performance on a variety of natural language processing (NLP) tasks, leading to intense excitement about their applicability across various domains. Unfortunately, recent work…

Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the large volume of perceptual information, much of which is…

The integration of foundation models (FMs) into robotics has enabled robots to understand natural language and reason about the semantics in their environments. However, existing FM-enabled robots primary operate in closed-world settings,…

Robots are finding wider adoption in human environments, increasing the need for natural human-robot interaction. However, understanding a natural language command requires the robot to infer the intended task and how to decompose it into…

The integration of accurate and reproducible wireless network simulations is a key enabler for research on open, virtualized, and intelligent communication systems. Network Digital Twins (NDTs) provide a scalable alternative to costly and…

We explore the application of large language models (LLMs) to empower domain experts in integrating large, heterogeneous, and noisy urban spatial datasets. Traditional rule-based integration methods are unable to cover all edge cases,…