Related papers: Data-Efficient Learning of Natural Language to Lin…

Soft prompt tuning is a parameter-efficient method for adapting LLMs to specific tasks, but suffers from a lack of interpretability. Building on recent work on interpreting soft prompts (Ramati et al., 2024), we explore how training a…

Instruction tuning has emerged as the key in aligning large language models (LLMs) with specific task instructions, thereby mitigating the discrepancy between the next-token prediction objective and users' actual goals. To reduce the labor…

Large language model fine-tuning techniques typically depend on extensive labeled data, external guidance, and feedback, such as human alignment, scalar rewards, and demonstration. However, in practical application, the scarcity of specific…

Large Language Models (LLMs), originally developed for natural language processing (NLP), have demonstrated the potential to generalize across modalities and domains. With their in-context learning (ICL) capabilities, LLMs can perform…

Signal Temporal Logic (STL) is widely used to specify timed and safety-critical tasks for cyber-physical systems, but writing STL formulas directly is difficult for non-expert users. Natural language (NL) provides a convenient interface,…

Language models (LMs) are pre-trained on raw text datasets to generate text sequences token-by-token. While this approach facilitates the learning of world knowledge and reasoning, it does not explicitly optimize for linguistic competence.…

Natural language generation (NLG) is an essential component of task-oriented dialogue systems. Despite the recent success of neural approaches for NLG, they are typically developed for particular domains with rich annotated training…

Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas…

Although large language models (LLMs) have advanced the state-of-the-art in NLP significantly, deploying them for downstream applications is still challenging due to cost, responsiveness, control, or concerns around privacy and security. As…

Large language models (LLMs) have emerged as powerful and general solutions to many natural language tasks. However, many of the most important applications of language generation are interactive, where an agent has to talk to a person to…

This paper addresses the problem of designing control policies for agents with unknown stochastic dynamics and control objectives specified using Linear Temporal Logic (LTL). Recent Deep Reinforcement Learning (DRL) algorithms have aimed to…

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…

We propose an architecture for integrating high-level, human-provided safety rules and operator-aligned semantic preferences into autonomous robot navigation in unstructured outdoor environments. In our approach, natural-language rules are…

Recent advances in large language models (LLMs) have demonstrated their potential as planners in human-robot collaboration (HRC) scenarios, offering a promising alternative to traditional planning methods. LLMs, which can generate…

Time series forecasting holds significant importance in many real-world dynamic systems and has been extensively studied. Unlike natural language process (NLP) and computer vision (CV), where a single large model can tackle multiple tasks,…

Large language models (LLMs) enable system builders today to create competent NLP systems through prompting, where they only need to describe the task in natural language and provide a few examples. However, in other ways, LLMs are a step…

Robot end users increasingly require accessible means of specifying tasks for robots to perform. Two common end-user programming paradigms include drag-and-drop interfaces and natural language programming. Although natural language…

The Natural Language to Visualization (NL2Vis) task aims to transform natural-language descriptions into visual representations for a grounded table, enabling users to gain insights from vast amounts of data. Recently, many deep…

Large Language Models (LLMs) have become a milestone in the field of artificial intelligence and natural language processing. However, their large-scale deployment remains constrained by the need for significant computational resources.…

Recent advancements in Large Language Models (LLMs) have demonstrated exceptional capabilities in natural language understanding and generation. While these models excel in general complex reasoning tasks, they still face challenges in…