Related papers: DoReMi: Grounding Language Model by Detecting and …

Algorithmic reasoning refers to the ability to understand the complex patterns behind the problem and decompose them into a sequence of reasoning steps towards the solution. Such nature of algorithmic reasoning makes it a challenge for…

Large language models (LLMs) have emerged as a dominant AI paradigm due to their exceptional text understanding and generation capabilities. However, their tendency to generate inconsistent or erroneous outputs challenges their reliability,…

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…

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…

Reinforcement learning (RL) has become a key technique for enhancing the reasoning abilities of large language models (LLMs), with policy-gradient algorithms dominating the post-training stage because of their efficiency and effectiveness.…

Robots trained via Reinforcement Learning (RL) or Imitation Learning (IL) often adapt slowly to new tasks, whereas recent Large Language Models (LLMs) and Vision-Language Models (VLMs) promise knowledge-rich planning from minimal data.…

Large Language Models (LLMs) are unable to reliably reason about specific physical systems. Attempts to imbue LLMs with knowledge of the necessary physics concepts have shown great promise, but explainability and validation remain open…

Despite the remarkable success of large language models (LLMs) on traditional natural language processing tasks, their planning ability remains a critical bottleneck in tackling complex multi-step reasoning tasks. Existing approaches mainly…

Solving long-horizon tasks requires robots to integrate high-level semantic reasoning with low-level physical interaction. While vision-language models (VLMs) and video generation models can decompose tasks and imagine outcomes, they often…

Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity…

This paper presents an innovative large language model (LLM)-based robotic system for enhancing multi-modal human-robot interaction (HRI). Traditional HRI systems relied on complex designs for intent estimation, reasoning, and behavior…

In anomaly detection, methods based on large language models (LLMs) can incorporate expert knowledge by reading professional document, while task-specific small models excel at extracting normal data patterns and detecting value…

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…

As Large Language Models (LLMs) become increasingly sophisticated and ubiquitous in natural language processing (NLP) applications, ensuring their robustness, trustworthiness, and alignment with human values has become a critical challenge.…

Large language models (LLMs) have recently shown impressive performance on tasks involving reasoning, leading to a lively debate on whether these models possess reasoning capabilities similar to humans. However, despite these successes, the…

Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…

The rapid progress of vision--language models (VLMs) has sparked growing interest in robotic control, where natural language can express the operation goals while visual feedback links perception to action. However, directly deploying…

The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…