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Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively choose appropriate motor skills. Vision-language models…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…

Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they have shown a lack of knowledge and effectiveness in planning…

The rapid development of Large Language Models (LLMs) creates an exciting potential for flexible, general knowledge-driven Human-Robot Interaction (HRI) systems for assistive robots. Existing HRI systems demonstrate great progress in…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

Large language models (LLMs) are increasingly used to automate feature engineering in tabular learning. Given task-specific information, LLMs can propose diverse feature transformation operations to enhance downstream model performance.…

Autonomous agents driven by Large Language Models (LLMs) offer enormous potential for automation. Early proof of this technology can be found in various demonstrations of agents solving complex tasks, interacting with external systems to…

We propose a novel approach to multi-robot collaboration that harnesses the power of pre-trained large language models (LLMs) for both high-level communication and low-level path planning. Robots are equipped with LLMs to discuss and…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Large language models (LLMs) and Vision-Language Models (VLMs) have been proven to excel at multiple tasks, such as commonsense reasoning. Powerful as these models can be, they are not grounded in the 3D physical world, which involves…

Compared with the widely investigated homogeneous multi-robot collaboration, heterogeneous robots with different capabilities can provide a more efficient and flexible collaboration for more complex tasks. In this paper, we consider a more…

The rapid progress in machine learning (ML) has brought forth many large language models (LLMs) that excel in various tasks and areas. These LLMs come with different abilities and costs in terms of computation or pricing. Since the demand…

Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…

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…

This paper presents a novel framework, called PLANTOR (PLanning with Natural language for Task-Oriented Robots), that integrates Large Language Models (LLMs) with Prolog-based knowledge management and planning for multi-robot tasks. The…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

Household robots have been a longstanding research topic, but they still lack human-like intelligence, particularly in manipulating open-set objects and navigating large environments efficiently and accurately. To push this boundary, we…

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…

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…

Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…