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

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

In order to flexibly act in an everyday environment, a robotic agent needs a variety of cognitive capabilities that enable it to reason about plans and perform execution recovery. Large language models (LLMs) have been shown to demonstrate…

Large Language Models (LLMs) have shown superior capability to solve reasoning problems with programs. While being a promising direction, most of such frameworks are trained and evaluated in settings with a prior knowledge of task…

Developing domain models is one of the few remaining places that require manual human labor in AI planning. Thus, in order to make planning more accessible, it is desirable to automate the process of domain model generation. To this end, we…

With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments. To deliver these services…

Chain-of-thought (CoT) reasoning has enabled large language models (LLMs) to utilize additional computation through intermediate tokens to solve complex tasks. However, we posit that typical reasoning traces contain many redundant tokens,…

Symbolic reasoning systems have been used in cognitive architectures to provide inference and planning capabilities. However, defining domains and problems has proven difficult and prone to errors. Moreover, Large Language Models (LLMs)…

This study investigates the in-context learning capabilities of various decoder-only transformer-based language models with different model sizes and training data, including GPT2, SmolLM2, OpenELM, TinyLlama, Stable LM, and Gemma 2. We…

Evaluating reasoning ability in Large Language Models (LLMs) is important for advancing artificial intelligence, as it transcends mere linguistic task performance. It involves understanding whether these models truly understand information,…

Large language models (LLMs) are increasingly explored for their reasoning capabilities, yet their ability to perform structured, constraint-based optimization from natural language remains insufficiently understood. This study evaluates…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

Accurate task planning is critical for controlling autonomous systems, such as robots, drones, and self-driving vehicles. Behavior Trees (BTs) are considered one of the most prominent control-policy-defining frameworks in task planning, due…

Open-source pre-trained Large Language Models (LLMs) exhibit strong language understanding and generation capabilities, making them highly successful in a variety of tasks. However, when used as agents for dealing with complex problems in…

Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT planning shows promise for generating reliable BTs. However,…

Large language model (LLM) performance on reasoning problems typically does not generalize out of distribution. Previous work has claimed that this can be mitigated with chain of thought prompting-a method of demonstrating solution…

Reasoning has long been viewed as an emergent property of large language models (LLMs). However, recent studies challenge this assumption, showing that small language models (SLMs) can also achieve competitive reasoning performance. This…

Reasoning is a fundamental aspect of human intelligence that plays a crucial role in activities such as problem solving, decision making, and critical thinking. In recent years, large language models (LLMs) have made significant progress in…

Pretrained Large Language Models (LLMs) have demonstrated various reasoning capabilities through language-based prompts alone, particularly in unstructured task settings (tasks purely based on language semantics). However, LLMs often…

Recent works have shown great potentials of Large Language Models (LLMs) in robot task and motion planning (TAMP). Current LLM approaches generate text- or code-based reasoning chains with sub-goals and action plans. However, they do not…