Related papers: Large Language Models as Generalizable Policies fo…

Training Large Language Models (LLMs) to follow user instructions has been shown to supply the LLM with ample capacity to converse fluently while being aligned with humans. Yet, it is not completely clear how an LLM can lead a plan-grounded…

Multimodal large language models (MLLMs) have advanced vision-language reasoning and are increasingly deployed in embodied agents. However, significant limitations remain: MLLMs generalize poorly across digital-physical spaces and…

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…

While large language models (LLMs), such as GPT-3, appear to be robust and general, their reasoning ability is not at a level to compete with the best models trained for specific natural language reasoning problems. In this study, we…

Open-domain semantic parsing remains a challenging task, as neural models often rely on heuristics and struggle to handle unseen concepts. In this paper, we investigate the potential of large language models (LLMs) for this task and…

Large language models (LLMs) are trained and tested extensively on symbolic representations such as code and graphs, yet real-world user tasks are often specified in natural language. To what extent can LLMs generalize across these…

Visual program synthesis is a promising approach to exploit the reasoning abilities of large language models for compositional computer vision tasks. Previous work has used few-shot prompting with frozen LLMs to synthesize visual programs.…

Large Language Models (LLMs) excel in various natural language tasks but often struggle with long-horizon planning problems requiring structured reasoning. This limitation has drawn interest in integrating neuro-symbolic approaches within…

Vision-language models (VLMs) have tremendous potential for grounding language, and thus enabling language-conditioned agents (LCAs) to perform diverse tasks specified with text. This has motivated the study of LCAs based on reinforcement…

Large language models excel at a wide range of complex tasks. However, enabling general inference in the real world, e.g., for robotics problems, raises the challenge of grounding. We propose embodied language models to directly incorporate…

Reinforcement Learning (RL) has emerged as a transformative approach for aligning and enhancing Large Language Models (LLMs), addressing critical challenges in instruction following, ethical alignment, and reasoning capabilities. This…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

Large language models (LLMs) have achieved remarkable success in a wide range of natural language processing tasks and can be adapted through prompting. However, they remain suboptimal in multi-turn interactions, often relying on incorrect…

Emergent symbolic representations are critical for enabling developmental learning agents to plan and generalize across tasks. In this work, we investigate whether large language models (LLMs) can translate human natural language…

Reinforcement Learning (RL) has shown remarkable abilities in learning policies for decision-making tasks. However, RL is often hindered by issues such as low sample efficiency, lack of interpretability, and sparse supervision signals. To…

While systems designed for solving planning tasks vastly outperform Large Language Models (LLMs) in this domain, they usually discard the rich semantic information embedded within task descriptions. In contrast, LLMs possess parametrised…

Recent studies have successfully integrated large vision-language models (VLMs) into low-level robotic control by supervised fine-tuning (SFT) with expert robotic datasets, resulting in what we term vision-language-action (VLA) models.…

The success of large language models (LLMs) has fostered a new research trend of multi-modality large language models (MLLMs), which changes the paradigm of various fields in computer vision. Though MLLMs have shown promising results in…

We propose a novel approach for training large language models (LLMs) to adhere to objectives defined within a latent embedding space. Our method leverages reinforcement learning (RL), treating a pre-trained LLM as an environment. Our…

Inspired by the insights in cognitive science with respect to human memory and reasoning mechanism, a novel evolvable LLM-based (Large Language Model) agent framework is proposed as REMEMBERER. By equipping the LLM with a long-term…