相关论文: Triple-S: A Collaborative Multi-LLM Framework for …

In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specifically, it is still difficult for robots to adapt the learned…

Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets,…

In recent years, Large Language Models (LLMs) have demonstrated significant improvements across a variety of tasks, one of which is the long-context capability. The key to improving long-context performance lies in effective data…

3D spatial understanding is essential in real-world applications such as robotics, autonomous vehicles, virtual reality, and medical imaging. Recently, Large Language Models (LLMs), having demonstrated remarkable success across various…

Collaborative Simultaneous Localization and Mapping (CSLAM) is critical to enable multiple robots to operate in complex environments. Most CSLAM techniques rely on raw sensor measurement or low-level features such as keyframe descriptors,…

Despite great strides in language-guided manipulation, existing work has been constrained to table-top settings. Table-tops allow for perfect and consistent camera angles, properties are that do not hold in mobile manipulation. Task plans…

The integration of Large Language Models (LLMs) into Development Environments (IDEs) has become a focal point in modern software development. LLMs such as OpenAI GPT-3.5/4 and Code Llama offer the potential to significantly augment…

Safety-critical task planning in robotic systems remains challenging: classical planners suffer from poor scalability, Reinforcement Learning (RL)-based methods generalize poorly, and base Large Language Models (LLMs) cannot guarantee…

Large language model (LLM) agents have shown increasing promise for collaborative task completion. However, existing multi-agent frameworks often rely on static workflows, fixed roles, and limited inter-agent communication, reducing their…

We claim that LLMs can be paired with formal analysis methods to provide accessible, relevant feedback for HRI tasks. While logic specifications are useful for defining and assessing a task, these representations are not easily interpreted…

Reinforcement Learning (RL) based methods have been increasingly explored for robot learning. However, RL based methods often suffer from low sampling efficiency in the exploration phase, especially for long-horizon manipulation tasks, and…

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…

To achieve natural and intuitive interaction with people, HRI frameworks combine a wide array of methods for human perception, intention communication, human-aware navigation and collaborative action. In practice, when encountering…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…

Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…

Large language models (LLMs) have shown remarkable capabilities in solving complex tasks. Recent work has explored decomposing such tasks into subtasks with independent contexts. However, some contextually related subtasks may encounter…

We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…

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…

TRIZ, the Theory of Inventive Problem Solving, is a structured, knowledge-based framework for innovation and abstracting problems to find inventive solutions. However, its application is often limited by the complexity and deep…