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In the past year, large language models (LLMs) have had remarkable success in domains outside the traditional natural language processing, and their capacity is further expanded into the so-called LLM agents when connected with external…

Large language models (LLMs) struggle with reasoning over long contexts where relevant information is sparsely distributed. Although plan-and-execute frameworks mitigate this by decomposing tasks into planning and execution, their…

Large Language Models (LLMs) demonstrate strong abilities in common-sense reasoning and interactive decision-making, but often struggle with complex, long-horizon planning tasks. Recent techniques have sought to structure LLM outputs using…

Routing problems are common in mobile robotics, encompassing tasks such as inspection, surveillance, and coverage. Depending on the objective and constraints, these problems often reduce to variants of the Traveling Salesman Problem (TSP),…

Psychometric tests, traditionally used to assess humans, are now being applied to Large Language Models (LLMs) to evaluate their behavioral traits. However, existing studies follow a context-free approach, answering each question in…

Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task planning, and even…

Large language models (LLMs) have recently demonstrated impressive capabilities across a range of reasoning and generation tasks. However, research studies have shown that LLMs lack the ability to identify causal relationships, a…

Large language models (LLMs) can refine their responses based on feedback, enabling self-improvement through iterative training or test-time refinement. However, existing methods predominantly focus on refinement within the same reasoning…

Large language models have demonstrated remarkable capabilities across diverse reasoning tasks, yet their performance on algorithmic reasoning remains limited. To handle this limitation, we propose PRIME (Policy-Reinforced Iterative…

We introduce LEAP (illustrated in Figure 1), a novel method for generating video-grounded action programs through use of a Large Language Model (LLM). These action programs represent the motoric, perceptual, and structural aspects of…

Large Reasoning Models (LRMs) have the ability to self-correct even when they make mistakes in their reasoning paths. However, our study reveals that when the reasoning process starts with a short but poor beginning, it becomes difficult…

While large language models (LLMs) pre-trained on massive amounts of unpaired language data have reached the state-of-the-art in machine translation (MT) of general domain texts, post-editing (PE) is still required to correct errors and to…

Recent large language models (LLMs) are capable of planning robot actions. In this paper, we explore how LLMs can be used for planning actions with tasks involving situational human-robot interaction (HRI). A key problem of applying LLMs in…

Large Language Model (LLM) agents are increasingly deployed in complex, multi-step workflows involving planning, tool use, reflection, and interaction with external knowledge systems. These workflows generate rapidly expanding contexts that…

Large language models (LLMs) have made remarkable progress in generating fluent text, but they still face a critical challenge of contextual misalignment in long-term and dynamic dialogue. When human users omit premises, simplify…

Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in…

Large language models (LLMs), initially developed for generative AI, are now evolving into agentic AI systems, which make decisions in complex, real-world contexts. Unfortunately, while their generative capabilities are well-documented,…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

The development of a general purpose service robot for daily life necessitates the robot's ability to deploy a myriad of fundamental behaviors judiciously. Recent advancements in training Large Language Models (LLMs) can be used to generate…

Significantly simplifying the creation of optimization models for real-world business problems has long been a major goal in applying mathematical optimization more widely to important business and societal decisions. The recent…