相关论文: FLEET: Formal Language-Grounded Scheduling for Het…

We present a method for developing navigation policies for multi-robot teams that interpret and follow natural language instructions. We condition these policies on embeddings from pretrained Large Language Models (LLMs), and train them via…

In the endeavor to make autonomous robots take actions, task planning is a major challenge that requires translating high-level task descriptions to long-horizon action sequences. Despite recent advances in language model agents, they…

Recent advances in code generation models have unlocked unprecedented opportunities for automating feature engineering, yet their adoption in real-world ML teams remains constrained by critical challenges: (i) the scarcity of datasets…

Trajectory planning is crucial in multi-robot systems, particularly in environments with numerous obstacles. While extensive research has been conducted in this field, the challenge of coordinating multiple robots to flow collectively from…

The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…

Federated Learning (FL) is a method of training machine learning models on private data distributed over a large number of possibly heterogeneous clients such as mobile phones and IoT devices. In this work, we propose a new federated…

Fine-tuning pre-trained large language models (LLMs) has become a common practice for personalized natural language understanding (NLU) applications on downstream tasks and domain-specific datasets. However, there are two main challenges:…

Large language models (LLMs) deployed on edge servers are increasingly used in latency-sensitive applications such as personalized assistants, recommendation, and content moderation. However, the non-stationary nature of user data…

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…

In modern industrial production, multiple robots often collaborate to complete complex manufacturing tasks. Large language models (LLMs), with their strong reasoning capabilities, have shown potential in coordinating robots for simple…

In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing lattice planners have two major limitations, namely the high…

Federated learning (FL) supports training models on geographically distributed devices. However, traditional FL systems adopt a centralized synchronous strategy, putting high communication pressure and model generalization challenge.…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…

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…

Large language model (LLM) agents have exhibited strong problem-solving competence across domains like research and coding. Yet, it remains underexplored whether LLM agents can tackle compounding real-world problems that require a diverse…

The integration of Large Language Models (LLMs), such as GPT, in industrial robotics enhances operational efficiency and human-robot collaboration. However, the computational complexity and size of these models often provide latency…

Language model (LM)-based agents have demonstrated promising capabilities in automating complex tasks from natural language instructions, yet they continue to struggle with long-horizon planning and reasoning. To address this, we propose an…

Wireless federated learning (WFL) suffers from heterogeneity prevailing in the data distributions, computing powers, and channel conditions of participating devices. This paper presents a new Federated Learning with Adjusted leaRning ratE…

Federated fine-tuning offers a promising approach for tuning Large Language Models (LLMs) on edge devices while preserving data privacy. However, fine-tuning these models on edge devices remains challenging due to high memory,…