Related papers: Robots That Ask For Help: Uncertainty Alignment fo…

Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Markov decision processes. During the…

Understanding why a large language model (LLM) is uncertain about the response is important for their reliable deployment. Current approaches, which either provide a single uncertainty score or rely on the classical aleatoric-epistemic…

Reliable Large Language Models (LLMs) should abstain when confidence is insufficient. However, prior studies often treat refusal as a generic "I don't know'', failing to distinguish input-level ambiguity (data uncertainty) from capability…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

Large language models (LLMs) have demonstrated remarkable capabilities across a wide range of tasks in various domains. Despite their impressive performance, they can be unreliable due to factual errors in their generations. Assessing their…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…

Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…

Large Language Models (LLMs) have emerged as highly capable systems and are increasingly being integrated into various uses. However, the rapid pace of their deployment has outpaced a comprehensive understanding of their internal mechanisms…

Large language models (LLMs) remain unreliable for global enterprise applications due to substantial performance gaps between high-resource and mid/low-resource languages, driven by English-centric pretraining and internal reasoning biases.…

Robots often fail at everyday tasks because instructions skip commonsense details like hidden preconditions and small subgoals. Traditional symbolic planners need these details to be written explicitly, which is time consuming and often…

This study investigates uncertainty quantification in large language models (LLMs) for medical applications, emphasizing both technical innovations and philosophical implications. As LLMs become integral to clinical decision-making,…

Reward models (RMs) are essential for aligning large language models (LLM) with human expectations. However, existing RMs struggle to capture the stochastic and uncertain nature of human preferences and fail to assess the reliability of…

Motivated by the rapid ascent of Large Language Models (LLMs) and debates about the extent to which they possess human-level qualities, we propose a framework for testing whether any agent (be it a machine or a human) understands a subject…

It is important for Large Language Models (LLMs) to be aware of the boundary of their knowledge, distinguishing queries they can confidently answer from those that lie beyond their capabilities. Such awareness enables models to perform…

Large Language Models (LLMs) are powerful linguistic engines but remain susceptible to hallucinations: plausible-sounding outputs that are factually incorrect or unsupported. In this work, we present a mathematically grounded framework to…

Large language models (LLMs) achieve strong average performance yet remain unreliable at the instance level, with frequent hallucinations, brittle failures, and poorly calibrated confidence. We study reliability through the lens of…

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…

Robotic path planning problems are often NP-hard, and practical solutions typically rely on approximation algorithms with provable performance guarantees for general cases. While designing such algorithms is challenging, formally proving…

The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…