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The research explores the steerability of Large Language Models (LLMs), particularly OpenAI's ChatGPT iterations. By employing a behavioral psychology framework called OCEAN (Openness, Conscientiousness, Extroversion, Agreeableness,…

Modern NLP models are becoming better conversational agents than their predecessors. Recurrent Neural Networks (RNNs) and especially Long-Short Term Memory (LSTM) features allow the agent to better store and use information about semantic…

Large Language Models (LLMs) have emerged as transformative tools for natural language understanding and user intent resolution, enabling tasks such as translation, summarization, and, increasingly, the orchestration of complex workflows.…

Much worldly semantic knowledge can be encoded in large language models (LLMs). Such information could be of great use to robots that want to carry out high-level, temporally extended commands stated in natural language. However, the lack…

Making language models bigger does not inherently make them better at following a user's intent. For example, large language models can generate outputs that are untruthful, toxic, or simply not helpful to the user. In other words, these…

Indoor navigation presents unique challenges due to complex layouts and the unavailability of GNSS signals. Existing solutions often struggle with contextual adaptation, and typically require dedicated hardware. In this work, we explore the…

Instruction fine-tuning (IFT) elicits instruction following capabilities and steers the behavior of large language models (LLMs) via supervised learning. However, existing models trained on open-source IFT datasets only have the ability to…

Adversarial information operations can destabilize societies by undermining fair elections, manipulating public opinions on policies, and promoting scams. Despite their widespread occurrence and potential impacts, our understanding of…

Narrative understanding involves capturing the author's cognitive processes, providing insights into their knowledge, intentions, beliefs, and desires. Although large language models (LLMs) excel in generating grammatically coherent text,…

Open AI's language model, GPT-3, has shown great potential for many NLP tasks, with applications in many different domains. In this work we carry out a first study on GPT-3's capability to communicate musical decisions through textual…

We present a simple yet effective approach that can transform the OpenAI GPT-3.5 model into a reliable motion planner for autonomous vehicles. Motion planning is a core challenge in autonomous driving, aiming to plan a driving trajectory…

Multimodal sarcasm understanding is a high-order cognitive task. Although large language models (LLMs) have shown impressive performance on many downstream NLP tasks, growing evidence suggests that they struggle with sarcasm understanding.…

Robots are increasingly common in industry and daily life, such as in nursing homes where they can assist staff. A key challenge is developing intuitive interfaces for easy communication. The use of Large Language Models (LLMs) like GPT-4…

Large language models (LLMs) show remarkable capabilities across a variety of tasks. Despite the models only seeing text in training, several recent studies suggest that LLM representations implicitly capture aspects of the underlying…

Large Language Models such as GPTs (Generative Pre-trained Transformers) exhibit remarkable capabilities across a broad spectrum of applications. Nevertheless, due to their intrinsic complexity, these models present substantial challenges…

In the Vision-and-Language Navigation (VLN) task, the agent is required to navigate to a destination following a natural language instruction. While learning-based approaches have been a major solution to the task, they suffer from high…

Artificial Intelligence (AI) is taking on increasingly autonomous roles, e.g., browsing the web as a research assistant and managing money. But specifying goals and restrictions for AI behavior is difficult. Similar to how parties to a…

AI tasks encompass a wide range of domains and fields. While numerous AI models have been designed for specific tasks and applications, they often require considerable human efforts in finding the right model architecture, optimization…

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…

AI policy sets boundaries on acceptable behavior for AI models, but this is challenging in the context of large language models (LLMs): how do you ensure coverage over a vast behavior space? We introduce policy maps, an approach to AI…