Related papers: Plan, Eliminate, and Track -- Language Models are …

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Language-guided robots performing home and office tasks must navigate in and interact with the world. Grounding language instructions against visual observations and actions to take in an environment is an open challenge. We present…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

Pretrained language models (PLMs) are today the primary model for natural language processing. Despite their impressive downstream performance, it can be difficult to apply PLMs to new languages, a barrier to making their capabilities…

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…

While Large Language Models (LLMs) have demonstrated significant promise as agents in interactive tasks, their substantial computational requirements and restricted number of calls constrain their practical utility, especially in…

Vision-language models (VLMs) have shown remarkable general capabilities, yet embodied agents built on them fail at complex tasks, often skipping critical steps, proposing invalid actions, and repeating mistakes. These failures arise from a…

As Large Language Models (LLMs) achieve remarkable empirical success through scaling model and data size, pretraining has become increasingly critical yet computationally prohibitive, hindering rapid development. Despite the availability of…

Large Language Models (LLMs) have emerged as integral tools for reasoning, planning, and decision-making, drawing upon their extensive world knowledge and proficiency in language-related tasks. LLMs thus hold tremendous potential for…

Large Language Model (LLM) based agents have proved their ability to perform complex tasks like humans. However, there is still a large gap between open-sourced LLMs and commercial models like the GPT series. In this paper, we focus on…

This paper reviews the architecture and implementation methods of agents powered by large language models (LLMs). Motivated by the limitations of traditional LLMs in real-world tasks, the research aims to explore patterns to develop…

Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

Recently, the development of pre-trained language models has brought natural language processing (NLP) tasks to the new state-of-the-art. In this paper we explore the efficiency of various pre-trained language models. We pre-train a list of…

Multi-agent systems with smaller language models (SLMs) present a viable alternative to single agent systems powered by large language models (LLMs) for addressing complex problems. In this work, we study how these alternatives compare in…

Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the…

Large Language Model (LLM) agents significantly extend the capabilities of standalone LLMs, empowering them to interact with external tools (e.g., APIs, functions) and complete various tasks in a self-directed fashion. The challenge of tool…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

Large Language Models (LLMs) have been achieving competent performance on a wide range of downstream tasks, yet existing work shows that inference on structured data is challenging for LLMs. This is because LLMs need to either understand…

Parameter-efficient tuning (PET) methods can effectively drive extremely large pre-trained language models (PLMs) by training only minimal parameters. Different PET methods utilize different manually designed tunable modules. In small PLMs,…

Large language models (LLMs) have demonstrated remarkable capabilities across a range of text-generation tasks. However, LLMs still struggle with problems requiring multi-step decision-making and environmental feedback, such as online…