相关论文: Distilling On-device Language Models for Robot Pla…

Recent research has demonstrated the feasibility of training efficient intent detectors based on pre-trained language model~(PLM) with limited labeled data. However, deploying these detectors in resource-constrained environments such as…

Large Language Models (LLMs) have achieved significant success across various NLP tasks. However, their massive computational costs limit their widespread use, particularly in real-time applications. Structured pruning offers an effective…

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…

Large language models (LLMs) have shown significant potential for robotics applications, particularly task planning, by harnessing their language comprehension and text generation capabilities. However, in applications such as household…

Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the…

Pre-trained large language models (LLMs) show promise for robotic task planning but often struggle to guarantee correctness in long-horizon problems. Task and motion planning (TAMP) addresses this by grounding symbolic plans in low-level…

Pretrained language models have become the standard approach for many NLP tasks due to strong performance, but they are very expensive to train. We propose a simple and efficient learning framework, TLM, that does not rely on large-scale…

As large language models (LLMs) increasingly shape the AI landscape, fine-tuning pretrained models has become more popular than in the pre-LLM era for achieving optimal performance in domain-specific tasks. However, pretrained LLMs such as…

As robots become increasingly capable, users will want to describe high-level missions and have robots infer the relevant details. Because pre-built maps are difficult to obtain in many realistic settings, accomplishing such missions will…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

We introduce ViLAM, a novel method for distilling vision-language reasoning from large Vision-Language Models (VLMs) into spatial attention maps for socially compliant robot navigation. Unlike traditional methods that rely on expert…

The advantages of pre-trained large language models (LLMs) are apparent in a variety of language processing tasks. But can a language model's knowledge be further harnessed to effectively disambiguate objects and navigate decision-making…

The rapid advancement of large language models (LLMs) has significantly advanced the capabilities of artificial intelligence across various domains. However, their massive scale and high computational costs render them unsuitable for direct…

Current techniques for post-training Large Language Models (LLMs) rely either on costly human supervision or on external verifiers to boost performance on tasks such as mathematical reasoning and code generation. However, as LLMs improve…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Large Language Models are rapidly emerging as web-native interfaces to social platforms. On the social web, users frequently have ambiguous and dynamic goals, making complex intent understanding-rather than single-turn execution-the…

Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…

This paper investigates the possibility of intuitive human-robot interaction through the application of Natural Language Processing (NLP) and Large Language Models (LLMs) in mobile robotics. This work aims to explore the feasibility of…

Reliable task planning is pivotal for achieving long-horizon autonomy in real-world robotic systems. Large language models (LLMs) offer a promising interface for translating complex and ambiguous natural language instructions into…

Large Language Models (LLMs) have advanced rapidly in recent years, demonstrating strong capabilities in problem comprehension and reasoning. Inspired by these developments, researchers have begun exploring the use of LLMs as decentralized…