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Multimodal Large Language Models (MLLMs) are set to transform how machines process and generate human-like responses by integrating diverse modalities such as text, images, and code. Yet, effectively harnessing their capabilities hinges on…

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 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…

Small Language Models (SLMs) are a cost-effective alternative to Large Language Models (LLMs), but often struggle with complex reasoning due to their limited capacity and a tendency to produce mistakes or inconsistent answers during…

We propose cognitive prompting as a novel approach to guide problem-solving in large language models (LLMs) through structured, human-like cognitive operations, such as goal clarification, decomposition, filtering, abstraction, and pattern…

In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…

Multimodal large language models (MLLMs) have revolutionized the landscape of AI, demonstrating impressive capabilities in tackling complex vision and audio-language tasks. However, a critical challenge remains: these models often suffer…

Foundation models have demonstrated strong reasoning and generalization capabilities in driving-related tasks, including scene understanding, planning, and control. However, they still face challenges in hallucinations, uncertainty, and…

We propose a novel framework for comprehending the reasoning capabilities of large language models (LLMs) through the perspective of meta-learning. By conceptualizing reasoning trajectories as pseudo-gradient descent updates to the LLM's…

Despite the recent advancement in large language models (LLMs) and their high performances across numerous benchmarks, recent research has unveiled that LLMs suffer from hallucinations and unfaithful reasoning. This work studies a specific…

This paper explores the spatial reasoning capability of large language models (LLMs) over textual input through a suite of five tasks aimed at probing their spatial understanding and computational abilities. The models were tested on both…

Large language models (LLMs) possess extensive world knowledge, including geospatial knowledge, which has been successfully applied to various geospatial tasks such as mobility prediction and social indicator prediction. However, LLMs often…

Long-horizon embodied planning underpins embodied AI. To accomplish long-horizon tasks, one of the most feasible ways is to decompose abstract instructions into a sequence of actionable steps. Foundation models still face logical errors and…

Cost-efficient path planning across multiple terrains is a crucial task in robot navigation, requiring the identification of a path from the start to the goal that not only avoids obstacles but also minimizes the overall travel cost. This…

Equipped with Chain-of-Thought (CoT), Large language models (LLMs) have shown impressive reasoning ability in various downstream tasks. Even so, suffering from hallucinations and the inability to access external knowledge, LLMs often come…

Large Multimodal Models (LMMs) have achieved strong performance across a range of vision and language tasks. However, their spatial reasoning capabilities are under-investigated. In this paper, we construct a novel VQA dataset, Spatial-MM,…

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…

While Large Language Models (LLMs) demonstrate exceptional performance in a multitude of Natural Language Processing (NLP) tasks, they encounter challenges in practical applications, including issues with hallucinations, inadequate…

Spatial reasoning -- the ability to perceive and reason about relationships in space -- advances vision-language models (VLMs) from visual perception toward spatial semantic understanding. Existing approaches either revisit local image…

Recent advances in reasoning with large language models (LLMs) have demonstrated strong performance on complex mathematical tasks, including combinatorial optimization. Techniques such as Chain-of-Thought and In-Context Learning have…