Related papers: Integrating Disambiguation and User Preferences in…

When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop…

Large language models (LLMs) can handle a wide variety of general tasks with simple prompts, without the need for task-specific training. Multimodal Large Language Models (MLLMs), built upon LLMs, have demonstrated impressive potential in…

Large language models (LLMs) have achieved remarkable success across various domains, but effectively incorporating complex and potentially noisy user timeline data into LLMs remains a challenge. Current approaches often involve translating…

This paper explores the advancements in making large language models (LLMs) more human-like. We focus on techniques that enhance natural language understanding, conversational coherence, and emotional intelligence in AI systems. The study…

In social robotics, a pivotal focus is enabling robots to engage with humans in a more natural and seamless manner. The emergence of advanced large language models (LLMs) such as Generative Pre-trained Transformers (GPTs) and autoregressive…

Large Language Models (LLMs) have demonstrated remarkable ability in long-horizon Task and Motion Planning (TAMP) by translating clear and straightforward natural language problems into formal specifications such as the Planning Domain…

Large language models (LLMs), endowed with exceptional reasoning capabilities, are adept at discerning profound user interests from historical behaviors, thereby presenting a promising avenue for the advancement of recommendation systems.…

User simulation is increasingly vital to develop and evaluate recommender systems (RSs). While Large Language Models (LLMs) offer promising avenues to simulate user behavior, they often struggle with the absence of specific task alignment…

We introduce AmbigNLG, a novel task designed to tackle the challenge of task ambiguity in instructions for Natural Language Generation (NLG). Ambiguous instructions often impede the performance of Large Language Models (LLMs), especially in…

Aligning large language models (LLMs) with human intentions has become a critical task for safely deploying models in real-world systems. While existing alignment approaches have seen empirical success, theoretically understanding how these…

The existing language-driven grasping methods struggle to fully handle ambiguous instructions containing implicit intents. To tackle this challenge, we propose LangGrasp, a novel language-interactive robotic grasping framework. The…

Simulation is an invaluable tool for developing and evaluating controllers for self-driving cars. Current simulation frameworks are driven by highly-specialist domain specific languages, and so a natural language interface would greatly…

A long-standing challenge in developing accurate recommendation models is simulating user behavior, mainly due to the complex and stochastic nature of user interactions. Towards this, one promising line of work has been the use of Large…

This paper presents an improved system based on our prior work, designed to create explanations for autonomous robot actions during Human-Robot Interaction (HRI). Previously, we developed a system that used Large Language Models (LLMs) to…

We investigate whether large language models (LLMs) can generate effective, user-facing explanations from a mathematically interpretable recommendation model. The model is based on constrained matrix factorization, where user types are…

Capitalizing on the remarkable advancements in Large Language Models (LLMs), there is a burgeoning initiative to harness LLMs for instruction following robotic navigation. Such a trend underscores the potential of LLMs to generalize…

People acquire concepts through rich physical and social experiences and use them to understand and navigate the world. In contrast, large language models (LLMs), trained solely through next-token prediction on text, exhibit strikingly…

Robots often fail at everyday tasks because instructions skip commonsense details like hidden preconditions and small subgoals. Traditional symbolic planners need these details to be written explicitly, which is time consuming and often…

Large Language Models (LLMs) have recently demonstrated impressive capabilities across various real-world applications. However, due to the current text-in-text-out paradigm, it remains challenging for LLMs to handle dynamic and complex…

Traditional control interfaces for quadruped robots often impose a high barrier to entry, requiring specialized technical knowledge for effective operation. To address this, this paper presents a novel control framework that integrates…