Related papers: Self-driven Grounding: Large Language Model Agents…

To reduce issues like hallucinations and lack of control in Large Language Models (LLMs), a common method is to generate responses by grounding on external contexts given as input, known as knowledge-augmented models. However, previous…

Grounding the common-sense reasoning of Large Language Models (LLMs) in physical domains remains a pivotal yet unsolved problem for embodied AI. Whereas prior works have focused on leveraging LLMs directly for planning in symbolic spaces,…

Do LLMs understand the meaning of the texts they generate? Do they possess a semantic grounding? And how could we understand whether and what they understand? I start the paper with the observation that we have recently witnessed a…

Grounding is a critical step in classical planning, yet it often becomes a computational bottleneck due to the exponential growth in grounded actions and atoms as task size increases. Recent advances in partial grounding have addressed this…

Recent works successfully leveraged Large Language Models' (LLM) abilities to capture abstract knowledge about world's physics to solve decision-making problems. Yet, the alignment between LLMs' knowledge and the environment can be wrong…

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…

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 demonstrated impressive results in developing generalist planning agents for diverse tasks. However, grounding these plans in expansive, multi-floor, and multi-room environments presents a significant…

Multimodal Large Language Models (MLLMs) have demonstrated a wide range of capabilities across many domains, including Embodied AI. In this work, we study how to best ground a MLLM into different embodiments and their associated action…

The fusion of Large Language Models (LLMs) and robotic systems has led to a transformative paradigm in the robotic field, offering unparalleled capabilities not only in the communication domain but also in skills like multimodal input…

Large Language Models (LLMs) have achieved remarkable success across a wide array of tasks. Due to the impressive planning and reasoning abilities of LLMs, they have been used as autonomous agents to do many tasks automatically. Recently,…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Language is a ubiquitous tool that is foundational to reasoning and collaboration, ranging from everyday interactions to sophisticated problem-solving tasks. The establishment of a common language can serve as a powerful asset in ensuring…

Large Language Models (LLMs) have achieved remarkable capabilities, yet their improvement methods remain fundamentally constrained by human design. We present Self-Developing, a framework that enables LLMs to autonomously discover,…

Grounding large language models (LLMs) in external knowledge sources is a promising method for faithful prediction. While existing grounding approaches work well for simple queries, many real-world information needs require synthesizing…

Modern software systems are subjected to various types of uncertainties arising from context, environment, etc. To this end, self-adaptation techniques have been sought out as potential solutions. Although recent advances in self-adaptation…

Are Large language models (LLMs) temporally grounded? Since LLMs cannot perceive and interact with the environment, it is impossible to answer this question directly. Instead, we provide LLMs with textual narratives and probe them with…

Large language models (LLMs) have emerged as powerful tools in natural language processing (NLP), showing a promising future of artificial generated intelligence (AGI). Despite their notable performance in the general domain, LLMs have…

Despite a widespread success in various applications, large language models (LLMs) often stumble when tackling basic physical reasoning or executing robotics tasks, due to a lack of direct experience with the physical nuances of the real…

We investigate the use of Large Language Models (LLMs) to equip neural robotic agents with human-like social and cognitive competencies, for the purpose of open-ended human-robot conversation and collaboration. We introduce a modular and…