Related papers: Can only LLMs do Reasoning?: Potential of Small La…

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…

Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the…

Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…

Large language models (LLMs) have achieved remarkable success across a wide spectrum of tasks; however, they still face limitations in scenarios that demand long-term planning and spatial reasoning. To facilitate this line of research, in…

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…

Large language models (LLMs) can perform reasoning computations both internally within their latent space and externally by generating explicit token sequences like chains of thought. Significant progress in enhancing reasoning abilities…

The potential of large language models (LLMs) to reason like humans has been a highly contested topic in Machine Learning communities. However, the reasoning abilities of humans are multifaceted and can be seen in various forms, including…

Recent large language models (LLMs) have demonstrated remarkable performance on a variety of natural language processing (NLP) tasks, leading to intense excitement about their applicability across various domains. Unfortunately, recent work…

Large language models (LLMs), such as GPT3.5, GPT4 and LLAMA2 perform surprisingly well and outperform human experts on many tasks. However, in many domain-specific evaluations, these LLMs often suffer from hallucination problems due to…

The planning ability of Large Language Models (LLMs) has garnered increasing attention in recent years due to their remarkable capacity for multi-step reasoning and their ability to generalize across a wide range of domains. While some…

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid robots, memory also plays a critical role in fostering…

Large Language Models (LLMs) have shown strong promise for robotic task planning, particularly through the automatic generation of symbolic planning domains. However, prior work mainly treats generated domains as planning utilities. Such…

Pretrained large language models (LLMs) are widely used in many sub-fields of natural language processing (NLP) and generally known as excellent few-shot learners with task-specific exemplars. Notably, chain of thought (CoT) prompting, a…

Recent advances in Large Language Models (LLMs) have showcased their remarkable reasoning capabilities, making them influential across various fields. However, in robotics, their use has primarily been limited to manipulation planning tasks…

Large Language Models (LLMs) solve many reasoning tasks via chain-of-thought (CoT) prompting, but smaller models (about 7 to 8B parameters) still struggle with multi-step reasoning under tight compute and token budgets. Existing test time…

Recent advancements in Large Language Models (LLMs) have demonstrated exceptional capabilities in natural language understanding and generation. While these models excel in general complex reasoning tasks, they still face challenges in…

Large language models (LLMs) are increasingly evaluated on reasoning tasks, yet their logical abilities remain contested. To address this, we study LLMs' reasoning in a well-defined fragment of logic: syllogistic reasoning. We cast the…

This study investigates whether large language models, specifically GPT4, can match human capabilities in analogical reasoning within strategic decision making contexts. Using a novel experimental design involving source to target matching,…

In recent years, lightweight large language models (LLMs) have garnered significant attention in the robotics field due to their low computational resource requirements and suitability for edge deployment. However, in task planning --…