Related papers: Chain-of-Thought Predictive Control

We present differentiable predictive control (DPC) as a deep learning-based alternative to the explicit model predictive control (MPC) for unknown nonlinear systems. In the DPC framework, a neural state-space model is learned from…

Deep imitation learning requires many expert demonstrations, which can be hard to obtain, especially when many tasks are involved. However, different tasks often share similarities, so learning them jointly can greatly benefit them and…

Stance detection aims to identify the attitude expressed in a document towards a given target. Techniques such as Chain-of-Thought (CoT) prompting have advanced this task, enhancing a model's reasoning capabilities through the derivation of…

With the widespread use of language models (LMs) in NLP tasks, researchers have discovered the potential of Chain-of-thought (CoT) to assist LMs in accomplishing complex reasoning tasks by generating intermediate steps. However, human…

Recent years have seen human robot collaboration (HRC) quickly emerged as a hot research area at the intersection of control, robotics, and psychology. While most of the existing work in HRC focused on either low-level human-aware motion…

Chain-of-Thought (CoT) reasoning improves multi-step mathematical problem solving in large language models but remains vulnerable to exposure bias and error accumulation, as early mistakes propagate irreversibly through autoregressive…

We propose a Geometry-aware Policy Imitation (GPI) approach that rethinks imitation learning by treating demonstrations as geometric curves rather than collections of state-action samples. From these curves, GPI derives distance fields that…

AI systems that "think" in human language offer a unique opportunity for AI safety: we can monitor their chains of thought (CoT) for the intent to misbehave. Like all other known AI oversight methods, CoT monitoring is imperfect and allows…

We introduce Reprompting, an iterative sampling algorithm that automatically learns the Chain-of-Thought (CoT) recipes for a given task without human intervention. Through Gibbs sampling, Reprompting infers the CoT recipes that work…

Chain-of-thought (CoT) advances the reasoning abilities of large language models (LLMs) and achieves superior performance in complex reasoning tasks. However, most CoT studies rely on carefully designed human-annotated rational chains to…

Model Predictive Control (MPC) has been demonstrated to be effective in continuous control tasks. When a world model and a value function are available, planning a sequence of actions ahead of time leads to a better policy. Existing methods…

This paper presents a tutorial and survey on Probabilistic Inference-based Model Predictive Control (PI-MPC). PI-MPC reformulates finite-horizon optimal control as inference over an optimal control distribution expressed as a Boltzmann…

Large Language Models have demonstrated remarkable abilities across various tasks, with Chain-of-Thought (CoT) prompting emerging as a key technique to enhance reasoning capabilities. However, existing research primarily focuses on…

Stance detection predicts attitudes towards targets in texts and has gained attention with the rise of social media. Traditional approaches include conventional machine learning, early deep neural networks, and pre-trained fine-tuning…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

We introduce CoT-ICL Lab, a framework and methodology to generate synthetic tokenized datasets and systematically study chain-of-thought (CoT) in-context learning (ICL) in language models. CoT-ICL Lab allows fine grained control over the…

The chain-of-thought technique has been received well in multi-modal tasks. It is a step-by-step linear reasoning process that adjusts the length of the chain to improve the performance of generated prompts. However, human thought processes…

Chain-of-Thought (CoT) empowers Large Language Models (LLMs) to tackle complex problems, but remains constrained by the computational cost and reasoning path collapse when grounded in discrete token spaces. Recent latent reasoning…