Related papers: REFLECT: Summarizing Robot Experiences for Failure…

In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert…

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…

Autonomous control systems face significant challenges in performing complex tasks in the presence of latent risks. To address this, we propose an integrated framework that combines Large Language Models (LLMs), numerical optimization, and…

LLM systems must make control decisions in addition to generating outputs: whether to answer, clarify, retrieve, call tools, repair, or escalate. In many current architectures, these decisions remain implicit within generation, entangling…

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…

Validating Large Language Models with ReLM explores the application of formal languages to evaluate and control Large Language Models (LLMs) for memorization, bias, and zero-shot performance. Current approaches for evaluating these types…

This paper presents an overview of robot failure detection work from HRI and adjacent fields using failures as an opportunity to examine robot explanation behaviours. As humanoid robots remain experimental tools in the early 2020s,…

In this study, we investigated the effects of self-reflection in large language models (LLMs) on problem-solving performance. We instructed nine popular LLMs to answer a series of multiple-choice questions to provide a performance baseline.…

Despite the remarkable capabilities of large language models (LLMs) in natural language understanding and reasoning, they often display undesirable behaviors, such as generating hallucinations and unfaithful reasoning. A prevalent strategy…

Large Language Models (LLMs) are increasingly used to automate software generation in embedded machine learning workflows, yet their outputs often fail silently or behave unpredictably. This article presents an empirical investigation of…

This paper presents INPROVF, an automatic framework that combines large language models (LLMs) and formal methods to speed up the repair process of high-level robot controllers. Previous approaches based solely on formal methods are…

Large Language Models (LLMs) have demonstrated remarkable capabilities in various reasoning tasks, yet they often struggle with problems involving missing information, exhibiting issues such as incomplete responses, factual errors, and…

While Large Language Models (LLMs) enable complex autonomous behavior, current agents remain constrained by static, human-designed prompts that limit adaptability. Existing self-improving frameworks attempt to bridge this gap but typically…

Recent progress in Large Reasoning Models (LRMs) has significantly enhanced the reasoning abilities of Large Language Models (LLMs), empowering them to tackle increasingly complex tasks through reflection capabilities, such as making…

Small Language Models (SLMs) are a cost-effective alternative to Large Language Models (LLMs), but often struggle with complex reasoning due to their limited capacity and a tendency to produce mistakes or inconsistent answers during…

The constitutional framework of alignment aims to align large language models (LLMs) with value-laden principles written in natural language (such as to avoid using biased language). Prior work has focused on parameter fine-tuning…

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

Large Language Models (LLMs) have demonstrated good performance in many reasoning tasks, but they still struggle with some complicated reasoning tasks including logical reasoning. One non-negligible reason for LLMs' suboptimal performance…

Large language models (LLMs) can improve their accuracy on various tasks through iteratively refining and revising their output based on feedback. We observe that these revisions can introduce errors, in which case it is better to roll back…