Related papers: LLM-State: Open World State Representation for Lon…

Large language models (LLMs) have revolutionized the landscape of Natural Language Processing systems, but are computationally expensive. To reduce the cost without sacrificing performance, previous studies have explored various approaches…

Estimating hidden states in dynamical systems, also known as optimal filtering, is a long-standing problem in various fields of science and engineering. In this paper, we introduce a general filtering framework, \textbf{LLM-Filter}, which…

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…

Large language models (LLMs)-based code generation for robotic manipulation has recently shown promise by directly translating human instructions into executable code, but existing methods remain noisy, constrained by fixed primitives and…

Large Language Models (LLMs) are versatile, yet they often falter in tasks requiring deep and reliable reasoning due to issues like hallucinations, limiting their applicability in critical scenarios. This paper introduces a rigorously…

In recent years, efforts have been made to use text information for better user profiling and item characterization in recommendations. However, text information can sometimes be of low quality, hindering its effectiveness for real-world…

This paper investigates models of event implications. Specifically, how well models predict entity state-changes, by targeting their understanding of physical attributes. Nominally, Large Language models (LLM) have been exposed to…

We explore leveraging large multi-modal models (LMMs) and text2image models to build a more general embodied agent. LMMs excel in planning long-horizon tasks over symbolic abstractions but struggle with grounding in the physical world,…

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) are increasingly deployed on long-horizon tasks in partially observable environments, where they must act while inferring and tracking a complex environment state over many steps. This leads to two challenges:…

The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…

Planning algorithms decompose complex problems into intermediate steps that can be sequentially executed by robots to complete tasks. Recent works have employed Large Language Models (LLMs) for task planning, using natural language to…

In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert…

It is a notable trend to use Large Language Models (LLMs) to tackle complex tasks, e.g., tasks that require a sequence of actions and dynamic interaction with tools and external environments. In this paper, we propose StateFlow, a novel…

Large Language Models (LLMs) are increasingly deployed in real-world applications where users engage in extended, mixed-topic conversations that depend on prior context. Yet, their reliability under realistic multi-turn interactions remains…

Task planning systems have been developed to help robots use human knowledge (about actions) to complete long-horizon tasks. Most of them have been developed for "closed worlds" while assuming the robot is provided with complete world…

Long-context large language models (LC LLMs) promise to increase reliability of LLMs in real-world tasks requiring processing and understanding of long input documents. However, this ability of LC LLMs to reliably utilize their growing…

Large Language Model (LLM) alignment aims to ensure that LLM outputs match with human values. Researchers have demonstrated the severity of alignment problems with a large spectrum of jailbreak techniques that can induce LLMs to produce…

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…

In an era defined by the explosive growth of data and rapid technological advancements, Multimodal Large Language Models (MLLMs) stand at the forefront of artificial intelligence (AI) systems. Designed to seamlessly integrate diverse data…