Embodied agents assisting humans are often asked to complete a new task in a new scenario. An agent preparing a particular dish in the kitchen based on a known recipe may be asked to prepare a new dish or to perform cleaning tasks in the storeroom. There may not be sufficient resources, e.g., time or labeled examples, to train the agent for these new situations. Large Language Models (LLMs) trained on considerable knowledge across many domains are able to predict a sequence of abstract actions for such new tasks and scenarios, although it may not be possible for the agent to execute this action sequence due to task-, agent-, or domain-specific constraints. Our framework addresses these challenges by leveraging the generic predictions provided by LLM and the prior domain-specific knowledge encoded in a Knowledge Graph (KG), enabling an agent to quickly adapt to new tasks and scenarios. The robot also solicits and uses human input as needed to refine its existing knowledge. Based on experimental evaluation over cooking and cleaning tasks in simulation domains, we demonstrate that the interplay between LLM, KG, and human input leads to substantial performance gains compared with just using the LLM output.

Assistive agents performing household tasks such as making the bed or cooking breakfast often compute and execute actions that accomplish one task at a time. However, efficiency can be improved by anticipating upcoming tasks and computing an action sequence that jointly achieves these tasks. State-of-the-art methods for task anticipation use data-driven deep networks and Large Language Models (LLMs), but they do so at the level of high-level tasks and/or require many training examples. Our framework leverages the generic knowledge of LLMs through a small number of prompts to perform high-level task anticipation, using the anticipated tasks as goals in a classical planning system to compute a sequence of finer-granularity actions that jointly achieve these goals. We ground and evaluate our framework's abilities in realistic scenarios in the VirtualHome environment and demonstrate a 31% reduction in execution time compared with a system that does not consider upcoming tasks.

Abstract-- An agent assisting humans in daily living activities can collaborate more effectively by anticipating upcoming tasks. Data-driven methods represent the state of the art in task anticipation, planning, and related problems, but these methods are resource-hungry and opaque. Our prior work introduced a proof of concept framework that used an LLM to anticipate 3 high-level tasks that served as goals for a classical planning system that computed a sequence of low-level actions for the agent to achieve these goals. This paper describes DaTAPlan, our framework that significantly extends our prior work toward human-robot collaboration. Specifically, DaTAPlan's planner computes actions for an agent and a human to collaboratively and jointly achieve the tasks anticipated by the LLM, and the agent automatically adapts to unexpected changes in human action outcomes and preferences. Figure 1: Illustration of "human-robot collaboration with anticipation": (a) agent anticipates (serving task) and collaborates with human, fetching juice from the fridge to the These methods are resource-hungry, i.e., need considerable This involves completing some high-level tasks, e.g., using classical planning to compute a sequence of finergranularity cooking breakfast and serving it at the table in Figure 1.

Artificial Intelligence (AI) based image analysis has an immense potential to support diagnostic histopathology, including cancer diagnostics. However, developing supervised AI methods requires large-scale annotated datasets. A potentially powerful solution is to augment training data with synthetic data. Latent diffusion models, which can generate high-quality, diverse synthetic images, are promising. However, the most common implementations rely on detailed textual descriptions, which are not generally available in this domain. This work proposes a method that constructs structured textual prompts from automatically extracted image features. We experiment with the PCam dataset, composed of tissue patches only loosely annotated as healthy or cancerous. We show that including image-derived features in the prompt, as opposed to only healthy and cancerous labels, improves the Fr\'echet Inception Distance (FID) from 178.8 to 90.2. We also show that pathologists find it challenging to detect synthetic images, with a median sensitivity/specificity of 0.55/0.55. Finally, we show that synthetic data effectively trains AI models.

Detection of Volatile Organic Compounds (VOCs) from the breath is becoming a viable route for the early detection of diseases non-invasively. This paper presents a sensor array with three metal oxide electrodes that can use machine learning methods to identify four distinct VOCs in a mixture. The metal oxide sensor array was subjected to various VOC concentrations, including ethanol, acetone, toluene and chloroform. The dataset obtained from individual gases and their mixtures were analyzed using multiple machine learning algorithms, such as Random Forest (RF), K-Nearest Neighbor (KNN), Decision Tree, Linear Regression, Logistic Regression, Naive Bayes, Linear Discriminant Analysis, Artificial Neural Network, and Support Vector Machine. KNN and RF have shown more than 99% accuracy in classifying different varying chemicals in the gas mixtures. In regression analysis, KNN has delivered the best results with R2 value of more than 0.99 and LOD of 0.012, 0.015, 0.014 and 0.025 PPM for predicting the concentrations of varying chemicals Acetone, Toluene, Ethanol, and Chloroform, respectively in complex mixtures. Therefore, it is demonstrated that the array utilizing the provided algorithms can classify and predict the concentrations of the four gases simultaneously for disease diagnosis and treatment monitoring.