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As large language models (LLMs) move from static reasoning tasks toward dynamic environments, their success depends on the ability to navigate and respond to an environment that changes as they interact at inference time. An underexplored…

Recently, various studies have leveraged Large Language Models (LLMs) to help decision-making and planning in environments, and try to align the LLMs' knowledge with the world conditions. Nonetheless, the capacity of LLMs to continuously…

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…

Despite achieving remarkable success in complex tasks, Deep Reinforcement Learning (DRL) is still suffering from critical issues in practical applications, such as low data efficiency, lack of interpretability, and limited cross-environment…

Large language models (LLMs) based on Transformer have been widely applied in the filed of natural language processing (NLP), demonstrating strong performance, particularly in handling short text tasks. However, when it comes to long…

Large Language Models (LLMs) are transformative not only for daily activities but also for engineering tasks. However, current evaluations of LLMs in engineering exhibit two critical shortcomings: (i) the reliance on simplified use cases,…

Large Language Models (LLMs) exhibit emergent capabilities in structured domains, suggesting they may implicitly internalize high-fidelity representations of world models. While probing techniques have shown promising signs of this in…

In the realm of data-driven AI technology, the application of open-source large language models (LLMs) in robotic task planning represents a significant milestone. Recent robotic task planning methods based on open-source LLMs typically…

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…

While Large Language Models (LLMs) can solve many NLP tasks in zero-shot settings, applications involving embodied agents remain problematic. In particular, complex plans that require multi-step reasoning become difficult and too costly as…

Like most of NLP, models for human-centered NLP tasks -- tasks attempting to assess author-level information -- predominantly use representations derived from hidden states of Transformer-based LLMs. However, what component of the LM is…

Does continued scaling of large language models (LLMs) yield diminishing returns? In this work, we show that short-task benchmarks may give an illusion of slowing progress, as even marginal gains in single-step accuracy can compound into…

While large language models (LLMs) excel in mathematical and code reasoning, we observe they struggle with social reasoning tasks, exhibiting cognitive confusion, logical inconsistencies, and conflation between objective world states and…

Large language models (LLMs) have notably accelerated progress towards artificial general intelligence (AGI), with their impressive zero-shot capacity for user-tailored tasks, endowing them with immense potential across a range of…

The language generation and reasoning capabilities of large language models (LLMs) have enabled conversational systems with impressive performance in a variety of tasks, from code generation, to composing essays, to passing STEM and legal…

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…

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…

Significant advancements has recently been achieved in the field of multi-modal large language models (MLLMs), demonstrating their remarkable capabilities in understanding and reasoning across diverse tasks. However, these models are often…

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…

Recent research looks to harness the general knowledge and reasoning of large language models (LLMs) into agents that accomplish user-specified goals in interactive environments. Vision-language models (VLMs) extend LLMs to multi-modal data…