相关论文: BTGenBot-2: Efficient Behavior Tree Generation wit…

Large Language models (LLMs) have shown remarkable success in assisting robot learning tasks, i.e., complex household planning. However, the performance of pretrained LLMs heavily relies on domain-specific templated text data, which may be…

Prompting robots with natural language (NL) has largely been studied as what task to execute (goal selection, skill sequencing) rather than how to execute that task safely and efficiently in semantically rich, human-centric spaces. We…

Recent advancements in robot control using large language models (LLMs) have demonstrated significant potential, primarily due to LLMs' capabilities to understand natural language commands and generate executable plans in various languages.…

This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…

Robots that follow natural-language instructions often either plan at a high level using hand-designed interfaces or rely on large end-to-end models that are difficult to deploy for real-time control. We propose TeNet (Text-to-Network), a…

This study proposes an intelligent multi-agent framework built on LLMs and VLMs and specifically tailored to robotics. The goal is to integrate the strengths of LLMs and VLMs with computational tools to automatically analyze and solve…

Large Language Models (LLMs) have become a popular choice for many Natural Language Processing (NLP) tasks due to their versatility and ability to produce high-quality results. Specifically, they are increasingly used for automatic code…

This paper introduces DroidBot-GPT, a tool that utilizes GPT-like large language models (LLMs) to automate the interactions with Android mobile applications. Given a natural language description of a desired task, DroidBot-GPT can…

In recent years, as smart home systems have become more widespread, security concerns within these environments have become a growing threat. Currently, most smart home security solutions, such as anomaly detection and behavior prediction…

There is a rising interest in further exploring the zero-shot learning potential of large pre-trained language models (PLMs). A new paradigm called data-generation-based zero-shot learning has achieved impressive success. In this paradigm,…

A prominent achievement of natural language processing (NLP) is its ability to understand and generate meaningful human language. This capability relies on complex feedforward transformer block architectures pre-trained on large language…

Recent advances in Large language models (LLMs) have demonstrated their promising capabilities of generating robot operation code to enable LLM-driven robots. To enhance the reliability of operation code generated by LLMs, corrective…

We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed…

Embodied AI focuses on the study and development of intelligent systems that possess a physical or virtual embodiment (i.e. robots) and are able to dynamically interact with their environment. Memory and control are the two essential parts…

Multimodal Large Language Models (MLLMs) have achieved notable success in enhancing translation performance by integrating multimodal information. However, existing research primarily focuses on image-guided methods, whose applicability is…

Generative pre-trained transformer (GPT) models have revolutionized the field of natural language processing (NLP) with remarkable performance in various tasks and also extend their power to multimodal domains. Despite their success, large…

Zero-shot cross-lingual knowledge transfer enables a multilingual pretrained language model, finetuned on a task in one language, make predictions for this task in other languages. While being broadly studied for natural language…

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…

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…

This paper introduces a novel algorithm for constructing decision trees using large language models (LLMs) in a zero-shot manner based on Classification and Regression Trees (CART) principles. Traditional decision tree induction methods…