Related papers: CLARA: Classifying and Disambiguating User Command…

Despite the impressive performance of large language models (LLMs) across various benchmarks, their ability to address ambiguously specified problems--frequent in real-world interactions--remains underexplored. To address this gap, we…

There is broad agreement that Artificial Intelligence (AI) systems, particularly those using Machine Learning (ML), should be able to "explain" their behavior. Unfortunately, there is little agreement as to what constitutes an…

Large language models (LLMs) could be valuable personal AI agents across various domains, provided they can precisely follow user instructions. However, recent studies have shown significant limitations in LLMs' instruction-following…

Large-language models (LLMs) and chatbot agents are known to provide wrong outputs at times, and it was recently found that this can never be fully prevented. Hence, uncertainty quantification plays a crucial role, aiming to quantify the…

Large Language Models (LLMs) have demonstrated impressive performance in code generation tasks under idealized conditions, where task descriptions are clear and precise. However, in practice, task descriptions frequently exhibit ambiguity,…

Ambiguity in natural language poses significant challenges to Large Language Models (LLMs) used for open-domain question answering. LLMs often struggle with the inherent uncertainties of human communication, leading to misinterpretations,…

In situations such as habitat construction, station inspection, or cooperative exploration, incorrect assumptions about the environment or task across the team could lead to mission failure. Thus it is important to resolve any ambiguity…

The ultimate goal of embodied agents is to create collaborators that can interact with humans, not mere executors that passively follow instructions. This requires agents to communicate, coordinate, and adapt their actions based on human…

Large Language Models (LLMs) have shown impressive potential to simulate human behavior. We identify a fundamental challenge in using them to simulate experiments: when LLM-simulated subjects are blind to the experimental design (as is…

Intelligent agents such as robots are increasingly deployed in real-world, safety-critical settings. It is vital that these agents are able to explain the reasoning behind their decisions to human counterparts; however, their behavior is…

The increasing demand in artificial intelligence (AI) for models that are both effective and explainable is critical in domains where safety and trust are paramount. In this study, we introduce MIRA, a transparent and interpretable…

Large language models have demonstrated exceptional capabilities in understanding and generation. However, in real-world scenarios, users' natural language expressions are often inherently fuzzy, ambiguous, and uncertain, leading to…

Effective communication is essential in collaborative tasks, so AI-equipped robots working alongside humans need to be able to explain their behaviour in order to cooperate effectively and earn trust. We analyse and classify communications…

In this paper, we propose the Interactive Text2Pickup (IT2P) network for human-robot collaboration which enables an effective interaction with a human user despite the ambiguity in user's commands. We focus on the task where a robot is…

The evolution of autonomous driving has made remarkable advancements in recent years, evolving into a tangible reality. However, a human-centric large-scale adoption hinges on meeting a variety of multifaceted requirements. To ensure that…

Several recent works show impressive results in mapping language-based human commands and image scene observations to direct robot executable policies (e.g., pick and place poses). However, these approaches do not consider the uncertainty…

Comprehension of spoken natural language is an essential component for robots to communicate with human effectively. However, handling unconstrained spoken instructions is challenging due to (1) complex structures including a wide variety…

When using large language models (LLMs) in high-stakes applications, we need to know when we can trust their predictions. Some works argue that prompting high-performance LLMs is sufficient to produce calibrated uncertainties, while others…

In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…

Navigating robots through unstructured terrains is challenging, primarily due to the dynamic environmental changes. While humans adeptly navigate such terrains by using context from their observations, creating a similar context-aware…