Related papers: Generalizing to New Domains by Mapping Natural Lan…

Temporal Logic (TL) can be used to rigorously specify complex high-level specification for systems in many engineering applications. The translation between natural language (NL) and TL has been under-explored due to the lack of dataset and…

Children acquire their native language with apparent ease by observing how language is used in context and attempting to use it themselves. They do so without laborious annotations, negative examples, or even direct corrections. We take a…

To make robots accessible to a broad audience, it is critical to endow them with the ability to take universal modes of communication, like commands given in natural language, and extract a concrete desired task specification, defined using…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

We demonstrate experimental results with LLMs that address robotics task planning problems. Recently, LLMs have been applied in robotics task planning, particularly using a code generation approach that converts complex high-level…

Instruction-tuned large language models (LLMs) have shown strong performance on a variety of tasks; however, generalizing from synthetic to human-authored instructions in grounded environments remains a challenge for them. In this work, we…

Text matching is a fundamental technique in both information retrieval and natural language processing. Text matching tasks share the same paradigm that determines the relationship between two given texts. The relationships vary from task…

Recent large language models (LLMs) have demonstrated remarkable performance on a variety of natural language processing (NLP) tasks, leading to intense excitement about their applicability across various domains. Unfortunately, recent work…

Grounding navigational commands to linear temporal logic (LTL) leverages its unambiguous semantics for reasoning about long-horizon tasks and verifying the satisfaction of temporal constraints. Existing approaches require training data from…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

Large Language Models (LLMs) have transformed NLP with their remarkable In-context Learning (ICL) capabilities. Automated assistants based on LLMs are gaining popularity; however, adapting them to novel tasks is still challenging. While…

Grounding the common-sense reasoning of Large Language Models (LLMs) in physical domains remains a pivotal yet unsolved problem for embodied AI. Whereas prior works have focused on leveraging LLMs directly for planning in symbolic spaces,…

While systems designed for solving planning tasks vastly outperform Large Language Models (LLMs) in this domain, they usually discard the rich semantic information embedded within task descriptions. In contrast, LLMs possess parametrised…

Large language models (LLMs) are trained and tested extensively on symbolic representations such as code and graphs, yet real-world user tasks are often specified in natural language. To what extent can LLMs generalize across these…

Pretrained language models (PLMs) trained on large-scale unlabeled corpus are typically fine-tuned on task-specific downstream datasets, which have produced state-of-the-art results on various NLP tasks. However, the data discrepancy issue…

Translating natural language (NL) into a formal language such as temporal logic (TL) is integral for human communication with robots and autonomous systems. State-of-the-art approaches decompose the task into a lifting of atomic…

Though large language models (LLMs) have enabled great success across a wide variety of tasks, they still appear to fall short of one of the loftier goals of artificial intelligence research: creating an artificial system that can adapt its…

Linear Temporal Logic (LTL) is a widely used task specification language for autonomous systems. To mitigate the significant manual effort and expertise required to define LTL-encoded tasks, several methods have been proposed for…

Large Language Models (LLMs) have achieved remarkable success across a wide range of natural language tasks, and recent efforts have sought to extend their capabilities to multimodal domains and resource-constrained environments. However,…

Text normalization - the conversion of text from written to spoken form - is traditionally assumed to be an ill-formed task for language models. In this work, we argue otherwise. We empirically show the capacity of Large-Language Models…