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

Large language models (LLMs) deployed as agents solve user-specified tasks over multiple steps while keeping the required manual engagement to a minimum. Crucially, such LLMs need to ground their generations in any feedback obtained to…

Modern neural language models (LMs) are powerful tools for modeling human sentence production and comprehension, and their internal representations are remarkably well-aligned with representations of language in the human brain. But to…

Large Language Models (LLMs) trained using massive text datasets have recently shown promise in generating action plans for robotic agents from high level text queries. However, these models typically do not consider the robot's…

Endowing Large Multimodal Models (LMMs) with visual grounding capability can significantly enhance AIs' understanding of the visual world and their interaction with humans. However, existing methods typically fine-tune the parameters of…

We propose integration of reasoning into speech large language models (speechLLMs) for the end-to-end slot-filling task. Inspired by the recent development of reasoning LLMs, we use a chain-of-thought framework to decompose the slot-filling…

Recent advancements in large language models (LLMs) have shown promising results in multilingual translation even with limited bilingual supervision. The major challenges are catastrophic forgetting and parameter interference for finetuning…

Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…

Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to…

We introduce a novel framework that integrates Semantic Digital Twins (SDTs) with Large Language Models (LLMs) to enable adaptive and goal-driven robotic task execution in dynamic environments. The system decomposes natural language…

The emergence of Large Language Models (LLMs) has fundamentally transformed natural language processing, making them indispensable across domains ranging from conversational systems to scientific exploration. However, their pre-trained…

General-purpose large language models (LLMs) that rely on in-context learning do not reliably deliver the scientific understanding and performance required for drug discovery tasks. Simply increasing model size or introducing reasoning…

Large Language Models (LLMs) have recently developed new advanced functionalities. Their effectiveness relies on statistical learning and generalization capabilities. However, they face limitations in internalizing the data they process and…

Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…

Lightweight Vision-Language Models (VLMs) are indispensable for resource-constrained applications. The prevailing approach to aligning vision and language models involves freezing both the vision encoder and the language model while…

Fine-tuning of Large Language Models (LLMs) for downstream tasks, performed on domain-specific data has shown significant promise. However, commercial use of such LLMs is limited by the high computational cost required for their deployment…

Recent studies have demonstrated the effectiveness of Large Language Models (LLMs) as reasoning modules that can deconstruct complex tasks into more manageable sub-tasks, particularly when applied to visual reasoning tasks for images. In…

Multimodal Large Language Models (MLLMs) show impressive vision-language benchmark performance, yet growing concerns about data contamination (test set exposure during training) risk masking true generalization. This concern extends to…

Language models (LMs) have demonstrated their capability in possessing commonsense knowledge of the physical world, a crucial aspect of performing tasks in everyday life. However, it remains unclear **whether LMs have the capacity to…

In modern industrial production, multiple robots often collaborate to complete complex manufacturing tasks. Large language models (LLMs), with their strong reasoning capabilities, have shown potential in coordinating robots for simple…

Improving embodied reasoning in multimodal-large-language models (MLLMs) is essential for building vision-language-action models (VLAs) on top of them to readily translate multimodal understanding into low-level actions. Accordingly, recent…