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Chatbots' role in fostering self-reflection is now widely recognized, especially in inducing users' behavior change. While the benefits of 24/7 availability, scalability, and consistent responses have been demonstrated in contexts such as…

The emergent few-shot reasoning capabilities of Large Language Models (LLMs) have excited the natural language and machine learning community over recent years. Despite of numerous successful applications, the underlying mechanism of such…

In recent years, large language models (LLMs) have shown an impressive ability to perform arithmetic and symbolic reasoning tasks. However, we found that LLMs (e.g., ChatGPT) cannot perform well on reasoning that requires multiple rounds of…

While Large Language Models (LLMs) can solve many NLP tasks in zero-shot settings, applications involving embodied agents remain problematic. In particular, complex plans that require multi-step reasoning become difficult and too costly as…

Intrigued by the claims of emergent reasoning capabilities in LLMs trained on general web corpora, in this paper, we set out to investigate their planning capabilities. We aim to evaluate (1) the effectiveness of LLMs in generating plans…

Large language models (LLMs) exhibit emergent behaviors suggestive of human-like reasoning. While recent work has identified structured conceptual representations within these models, it remains unclear whether they functionally rely on…

Multimodal Large Language Models (MLLMs) have demonstrated a wide range of capabilities across many domains, including Embodied AI. In this work, we study how to best ground a MLLM into different embodiments and their associated action…

While large language models (LLMs) have shown great potential across various domains, their applications in robotics remain largely limited to static prompt-based behaviors and still face challenges in complex tasks under zero-shot or…

Large language models (LLMs) have recently demonstrated the potential in acting as autonomous agents for sequential decision-making tasks. However, most existing methods either take actions greedily without planning or rely on static plans…

To facilitate the wider adoption of robotics, accessible programming tools are required for non-experts. Observational learning enables intuitive human skills transfer through hands-on demonstrations, but relying solely on visual input can…

Large Language Models (LLMs) have garnered significant attention for their ability to understand text and images, generate human-like text, and perform complex reasoning tasks. However, their ability to generalize this advanced reasoning…

This survey organizes the intricate literature on the design and optimization of emerging structures around post-trained LMs. We refer to this overarching structure as scaffolded LMs and focus on LMs that are integrated into multi-step…

Large language models (LLMs) possess extensive knowledge bases and strong reasoning capabilities, making them promising tools for complex, multi-agent planning in embodied environments. However, despite LLMs' advanced abilities and the…

Large Language Models (LLMs) have opened transformative possibilities for human-robot collaboration. However, enabling real-time collaboration requires both low latency and robust reasoning, and most LLMs suffer from high latency. To…

Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and natural language goals. While recent vision-language models (VLMs) excel at static perception tasks, they struggle with the…

When automating plan generation for a real-world sequential decision problem, the goal is often not to replace the human planner, but to facilitate an iterative reasoning and elicitation process, where the human's role is to guide the AI…

The integration of Large Language Models (LLMs) into robotics has unlocked unprecedented capabilities in high-level task planning. However, most current systems operate in an open-loop fashion, where LLMs act as one-shot planners, rendering…

The pursuit of human-level artificial intelligence (AI) has significantly advanced the development of autonomous agents and Large Language Models (LLMs). LLMs are now widely utilized as decision-making agents for their ability to interpret…

We claim that LLMs can be paired with formal analysis methods to provide accessible, relevant feedback for HRI tasks. While logic specifications are useful for defining and assessing a task, these representations are not easily interpreted…

Large language models (LLMs) are the result of a massive experiment in bottom-up, data-driven reverse engineering of language at scale. Despite their utility in a number of downstream NLP tasks, ample research has shown that LLMs are…