相关论文: From Prompts to Pavement: LMMs-based Agentic Behav…

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…

Rare, yet critical, scenarios pose a significant challenge in testing and evaluating autonomous driving planners. Relying solely on real-world driving scenes requires collecting massive datasets to capture these scenarios. While automatic…

This paper presents an innovative exploration of the application potential of large language models (LLM) in addressing the challenging task of automatically generating behavior trees (BTs) for complex tasks. The conventional manual BT…

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…

Large Language Models (LLM) based agents have shown promise in autonomously completing tasks across various domains, e.g., robotics, games, and web navigation. However, these agents typically require elaborate design and expert prompts to…

Definition of an accurate system model for Automated Planner (AP) is often impractical, especially for real-world problems. Conversely, off-the-shelf planners fail to scale up and are domain dependent. These drawbacks are inherited from…

Foundation models, including large language models (LLMs) and vision-language models (VLMs), have recently enabled novel approaches to robot autonomy and human-robot interfaces. In parallel, vision-language-action models (VLAs) or large…

This paper reviews the architecture and implementation methods of agents powered by large language models (LLMs). Motivated by the limitations of traditional LLMs in real-world tasks, the research aims to explore patterns to develop…

Unmanned Aerial Vehicles (UAVs) are increasingly used in defense, surveillance, and disaster response, yet most systems still operate at SAE Level 2 to 3 autonomy. Their dependence on rule-based control and narrow AI limits adaptability in…

Recent attempts to support high-level scene interpretation and planning in Autonomous Vehicles (AVs) using ensembles of Large Language Models (LLMs) and Large Multimodal Models (LMMs) continue to treat time as a secondary property. This…

Autonomous, goal-driven agents powered by LLMs have recently emerged as promising tools for solving challenging problems without the need for task-specific finetuned models that can be expensive to procure. Currently, the design and…

Autonomous Vehicles (AVs) must make reliable decisions in dense urban environments where pedestrian behavior is variable, sometimes abnormal, and often unseen during training. Reinforcement learning (RL)-based AV control systems perform…

Large Language Model-based agents have garnered significant attention and are becoming increasingly popular. Furthermore, planning ability is a crucial component of an LLM-based agent, which generally entails achieving a desired goal from…

In this work, we propose an LLM-based BT generation framework to leverage the strengths of both for sequential manipulation planning. To enable human-robot collaborative task planning and enhance intuitive robot programming by nonexperts,…

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…

Human-level driving is an ultimate goal of autonomous driving. Conventional approaches formulate autonomous driving as a perception-prediction-planning framework, yet their systems do not capitalize on the inherent reasoning ability and…

Leveraging advanced reasoning capabilities and extensive world knowledge of large language models (LLMs) to construct generative agents for solving complex real-world problems is a major trend. However, LLMs inherently lack embodiment as…

Prompt engineering has emerged as a powerful technique for guiding large language models (LLMs) toward desired responses, significantly enhancing their performance across diverse tasks. Beyond their role as static predictors, LLMs…

Large language models (LLMs) have demonstrated remarkable capabilities across a range of text-generation tasks. However, LLMs still struggle with problems requiring multi-step decision-making and environmental feedback, such as online…