Related papers: CLARA: Classifying and Disambiguating User Command…

In natural human-to-human communication, multimodal user input is typically used to supplement explicit and complement implicit voice commands, with casualness allowing for flexible input modality combinations and tolerance for imprecise…

Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…

The remarkable performance of large language models (LLMs) in content generation, coding, and common-sense reasoning has spurred widespread integration into many facets of society. However, integration of LLMs raises valid questions on…

Large language models (LLMs) have shown remarkable performance in various tasks but often fail to handle queries that exceed their knowledge and capabilities, leading to incorrect or fabricated responses. This paper addresses the need for…

Embodied agents designed to assist users with tasks must engage in natural language interactions, interpret instructions, execute actions, and communicate effectively to resolve issues. However, collecting large-scale, diverse datasets of…

Existing benchmarks for Large Language Model (LLM) agents focus on task completion under idealistic settings but overlook reliability in real-world, user-facing applications. In domains, such as in-car voice assistants, users often issue…

Large language models (LLMs) show promise for supporting clinicians in diagnostic communication by generating explanations and guidance for patients. Yet their ability to produce outputs that are both understandable and empathetic remains…

AI agents that leverage Large Language Models (LLMs) are increasingly becoming core building blocks of modern software systems. A wide range of frameworks is now available to support the specification of such applications. These frameworks…

Language models (LMs) have achieved impressive accuracy across a variety of tasks but remain vulnerable to high-confidence misclassifications, also referred to as unknown unknowns (UUs). These UUs cluster into blind spots in the feature…

Reinforcement learning is a machine learning approach based on behavioral psychology. It is focused on learning agents that can acquire knowledge and learn to carry out new tasks by interacting with the environment. However, a problem…

Advances in multi-agent reinforcement learning (MARL) enable sequential decision making for a range of exciting multi-agent applications such as cooperative AI and autonomous driving. Explaining agent decisions is crucial for improving…

We present Logical Robots, an interactive multi-agent simulation platform where autonomous robot behavior is specified declaratively in the logic programming language Logica. Robot behavior is defined by logical predicates that map…

In swarm robotics, agents interact through local roles to solve complex tasks beyond an individual's ability. Even though swarms are capable of carrying out some operations without the need for human intervention, many safety-critical…

In order to demonstrate the limitations of assistive robotic capabilities in noisy real-world environments, we propose a Decision-Making Scenario analysis approach that examines the challenges due to user and environmental uncertainty, and…

Language models have recently achieved strong performance across a wide range of NLP benchmarks. However, unlike benchmarks, real world tasks are often poorly specified, and agents must deduce the user's intended behavior from a combination…

Ambiguous words or underspecified references require interlocutors to resolve them, often by relying on shared context and commonsense knowledge. Therefore, we systematically investigate whether Large Language Models (LLMs) can leverage…

Large-scale robotic policies trained on data from diverse tasks and robotic platforms hold great promise for enabling general-purpose robots; however, reliable generalization to new environment conditions remains a major challenge. Toward…

The ability to learn and refine behavior after deployment has become ever more important for robots as we design them to operate in unstructured environments like households. In this work, we design a new learning system based on large…

A large-scale conversational agent can suffer from understanding user utterances with various ambiguities such as ASR ambiguity, intent ambiguity, and hypothesis ambiguity. When ambiguities are detected, the agent should engage in a…

Artificial Intelligence (AI) increasingly shows its potential to outperform predicate logic algorithms and human control alike. In automatically deriving a system model, AI algorithms learn relations in data that are not detectable for…