4 papers · 1 filter
Pre-Execution Safety Gate & Task Safety Contracts for LLM-Controlled Robot Systems
Ike Obi, Vishnunandan L. N. Venkatesh, Weizheng Wang +5
Large Language Models (LLMs) are increasingly used to convert task commands into robot-executable code, however this pipeline lacks validation gates to detect unsafe and defective…
Personalization in Human-Robot Interaction through Preference-based Action Representation Learning
Ruiqi Wang, Dezhong Zhao, Dayoon Suh +3
Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into t…
PrefMMT: Modeling Human Preferences in Preference-based Reinforcement Learning with Multimodal Transformers
Dezhong Zhao, Ruiqi Wang, Dayoon Suh +4
Preference-based reinforcement learning (PbRL) shows promise in aligning robot behaviors with human preferences, but its success depends heavily on the accurate modeling of human p…
SafePlan: Leveraging Formal Logic and Chain-of-Thought Reasoning for Enhanced Safety in LLM-based Robotic Task Planning
Ike Obi, Vishnunandan L. N. Venkatesh, Weizheng Wang +5
Robotics researchers increasingly leverage large language models (LLM) in robotics systems, using them as interfaces to receive task commands, generate task plans, form team coalit…