4 papers
Code Driven Planning with Domain-Adaptive Critic
Zikang Tian, Shaohui Peng, Du Huang +11
Large Language Models (LLMs) have been widely adopted as task planners for AI agents in sequential decision-making problems, leveraging their extensive world knowledge. However, th…
Body Transformer: Leveraging Robot Embodiment for Policy Learning
Carmelo Sferrazza, Dun-Ming Huang, Fangchen Liu +2
In recent years, the transformer architecture has become the de facto standard for machine learning algorithms applied to natural language processing and computer vision. Despite n…
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin +2
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, resea…
Characterizing Similarities and Divergences in Conversational Tones in Humans and LLMs by Sampling with People
Dun-Ming Huang, Pol Van Rijn, Ilia Sucholutsky +2
Conversational tones -- the manners and attitudes in which speakers communicate -- are essential to effective communication. Amidst the increasing popularization of Large Language…