Related papers: Grounding Language Plans in Demonstrations Through…

As robots become more ubiquitous and capable, it becomes ever more important to enable untrained users to easily interact with them. Recently, this has led to study of the language grounding problem, where the goal is to extract…

Integrating large language models (LLMs) with knowledge graphs derived from domain-specific data represents an important advancement towards more powerful and factual reasoning. As these models grow more capable, it is crucial to enable…

When large language models (LLMs) use in-context learning (ICL) to solve a new task, they must infer latent concepts from demonstration examples. This raises the question of whether and how transformers represent latent structures as part…

Natural language explanations promise to offer intuitively understandable explanations of a neural network's decision process in complex vision-language tasks, as pursued in recent VL-NLE models. While current models offer impressive…

Transformer-based Large Language Models (LLMs) have been applied in diverse areas such as knowledge bases, human interfaces, and dynamic agents, and marking a stride towards achieving Artificial General Intelligence (AGI). However, current…

Large language models (LLMs) have achieved a milestone that undenia-bly changed many held beliefs in artificial intelligence (AI). However, there remains many limitations of these LLMs when it comes to true language understanding,…

In recent years, the integration of large language models (LLMs) has revolutionized the field of robotics, enabling robots to communicate, understand, and reason with human-like proficiency. This paper explores the multifaceted impact of…

Large Language Models (LLMs) have been widely used as general-purpose AI agents showing comparable performance on many downstream tasks. However, existing work shows that it is challenging for LLMs to integrate structured data (e.g. KG,…

Large Language Models (LLMs) handle physical commonsense information inadequately. As a result of being trained in a disembodied setting, LLMs often fail to predict an action's outcome in a given environment. However, predicting the effects…

Large language models (LLMs) trained purely on text ostensibly lack any direct perceptual experience, yet their internal representations are implicitly shaped by multimodal regularities encoded in language. We test the hypothesis that…

Large language models (LLMs) achieve state-of-the-art results across many natural language tasks, but their internal mechanisms remain difficult to interpret. In this work, we extract, process, and visualize latent state geometries in…

Large language models (LLMs) contain substantial factual knowledge which is commonly elicited by multiple-choice question-answering prompts. Internally, such models process the prompt through multiple transformer layers, building varying…

Guiding users through complex procedural plans is an inherently multimodal task in which having visually illustrated plan steps is crucial to deliver an effective plan guidance. However, existing works on plan-following language models…

Language is essentially a complex, intricate system of human expressions governed by grammatical rules. It poses a significant challenge to develop capable AI algorithms for comprehending and grasping a language. As a major approach,…

Large Language Models (LLMs) have shown impressive potential to simulate human behavior. We identify a fundamental challenge in using them to simulate experiments: when LLM-simulated subjects are blind to the experimental design (as is…

Object manipulation for rearrangement into a specific goal state is a significant task for collaborative robots. Accurately determining object placement is a key challenge, as misalignment can increase task complexity and the risk of…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Generative large language models (LLMs) with instruct training such as GPT-4 can follow human-provided instruction prompts and generate human-like responses to these prompts. Apart from natural language responses, they have also been found…

Large language models (LLMs) pre-trained on vast internet-scale data have showcased remarkable capabilities across diverse domains. Recently, there has been escalating interest in deploying LLMs for robotics, aiming to harness the power of…

Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…