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While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Large Language Models (LLMs) have transformed the natural language processing landscape and brought to life diverse applications. Pretraining on vast web-scale data has laid the foundation for these models, yet the research community is now…

Recent advancements in text-to-image diffusion models have yielded impressive results in generating realistic and diverse images. However, these models still struggle with complex prompts, such as those that involve numeracy and spatial…

Large Language Models have been found to create plans that are neither executable nor verifiable in grounded environments. An emerging line of work demonstrates success in using the LLM as a formalizer to generate a formal representation of…

As Large Language Models (LLMs) become increasingly integrated into our daily lives, the potential harms from deceptive behavior underlie the need for faithfully interpreting their decision-making. While traditional probing methods have…

Large Language Models (LLMs) achieve strong performance through extended inference-time deliberation, yet how their reasoning failures arise remains poorly understood. By analyzing model-generated reasoning trajectories, we find that errors…

Large language models (LLMs) are a promising venue for natural language understanding and generation tasks. However, current LLMs are far from reliable: they are prone to generate non-factual information and, more crucially, to contradict…

In everyday conversations, humans can take on different roles and adapt their vocabulary to their chosen roles. We explore whether LLMs can take on, that is impersonate, different roles when they generate text in-context. We ask LLMs to…

Large language models (LLMs) are increasingly deployed on complex reasoning tasks, yet little is known about their ability to internally evaluate problem difficulty, which is an essential capability for adaptive reasoning and efficient…

Large language models (LLMs) have led to breakthroughs in language tasks, yet the internal mechanisms that enable their remarkable generalization and reasoning abilities remain opaque. This lack of transparency presents challenges such as…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

Despite significant progress in natural language understanding, Large Language Models (LLMs) remain error-prone when performing logical reasoning, often lacking the robust mental representations that enable human-like comprehension. We…

Large language models (LLMs) have been shown to acquire sequence-level planning abilities during training, yet their planning behavior exhibited at inference time often appears short-sighted and inconsistent with these capabilities. We…

We study how large language models (LLMs) reason about memorized knowledge through simple binary relations such as equality ($=$), inequality ($<$), and inclusion ($\subset$). Unlike in-context reasoning, the axioms (e.g., $a < b, b < c$)…

When instructing robots, users want to flexibly express constraints, refer to arbitrary landmarks, and verify robot behavior, while robots must disambiguate instructions into specifications and ground instruction referents in the real…

Spatial Reasoning is an important component of human cognition and is an area in which the latest Vision-language models (VLMs) show signs of difficulty. The current analysis works use image captioning tasks and visual question answering.…

Large language models (LLMs) and foundation models have been recently touted as a game-changer for 6G systems. However, recent efforts on LLMs for wireless networks are limited to a direct application of existing language models that were…

Recent advances in Large Language Models (LLMs) offer unique opportunities for scientific tasks, yet their ability to reason over complex numerical data remains largely unexplored. We propose a simple mechanism to introduce domain-specific…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

Large Language Models (LLMs) have demonstrated strong generalization across a wide range of tasks. Reasoning with LLMs is central to solving multi-step problems and complex decision-making. To support efficient reasoning, recent studies…