Related papers: Chain-of-Thought Predictive Control

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

Learning from demonstrations is a useful way to transfer a skill from one agent to another. While most imitation learning methods aim to mimic an expert skill by following the demonstration step-by-step, imitating every step in the…

Large language models (LLMs) have shown impressive capabilities in handling complex tasks through long-chain reasoning. However, the extensive reasoning steps involved can significantly increase computational costs, posing challenges for…

Chain-of-Thought (CoT) has been shown to significantly improve the reasoning accuracy of large language models (LLMs) on complex tasks. However, due to the autoregressive, step-by-step generation paradigm, existing CoT methods suffer from…

Humans often learn how to perform tasks via imitation: they observe others perform a task, and then very quickly infer the appropriate actions to take based on their observations. While extending this paradigm to autonomous agents is a…

Chain-of-Thought (CoT) has significantly enhanced the reasoning capabilities of Large Language Models (LLMs), especially when combined with reinforcement learning (RL) based post-training methods. While longer reasoning traces can improve…

The problem of optimal motion planing and control is fundamental in robotics. However, this problem is intractable for continuous-time stochastic systems in general and the solution is difficult to approximate if non-instantaneous nonlinear…

Chain-of-Thought reasoning has significantly enhanced the problem-solving capabilities of Large Language Models. Unfortunately, current models generate reasoning steps sequentially without foresight, often becoming trapped in suboptimal…

Chain-of-Thought (CoT) reasoning enhances the problem-solving ability of large language models (LLMs) but leads to substantial inference overhead, limiting deployment in resource-constrained settings. This paper investigates efficient CoT…

This work proposes a decision-making framework for partially observable systems in continuous time with discrete state and action spaces. As optimal decision-making becomes intractable for large state spaces we employ approximation methods…

Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distributional shift by interacting with oracular experts.…

Many complex real-world tasks are composed of several levels of sub-tasks. Humans leverage these hierarchical structures to accelerate the learning process and achieve better generalization. In this work, we study the inductive bias and…

Recent findings suggest that misaligned models may exhibit deceptive behavior, raising concerns about output trustworthiness. Chain-of-thought (CoT) is a promising tool for alignment monitoring: when models articulate their reasoning…

Chain-of-thought (CoT) prompting boosts Large Language Models accuracy on multi-step tasks, yet whether the generated "thoughts" reflect the true internal reasoning process is unresolved. We present the first feature-level causal study of…

Chain-of-Thought (CoT) is a critical technique in enhancing the reasoning ability of Large Language Models (LLMs), and latent reasoning methods have been proposed to accelerate the inefficient token-level reasoning chain. We notice that…

Chain-of-thought (CoT) is a standard approach for eliciting reasoning capabilities from large language models (LLMs). However, the common CoT paradigm treats thinking as a prerequisite for answering, which can delay access to plausible…

We introduce a simple new method for visual imitation learning, which allows a novel robot manipulation task to be learned from a single human demonstration, without requiring any prior knowledge of the object being interacted with. Our…

Chain-of-Thought (CoT) and Looped Transformers have been shown to empirically improve performance on reasoning tasks and to theoretically enhance expressivity by recursively increasing the number of computational steps. However, their…

In the field of chemical engineering, traditional data-processing and prediction methods face significant challenges. Machine-learning and large-language models (LLMs) also have their respective limitations. This paper explores the…

Chain-of-Thought prompting has significantly enhanced the reasoning capabilities of large language models, with numerous studies exploring factors influencing its performance. However, the underlying mechanisms remain poorly understood. To…