Related papers: CBF-LLM: Safe Control for LLM Alignment
Achieving safe autonomous navigation systems is critical for deploying robots in dynamic and uncertain real-world environments. In this paper, we propose a hierarchical control framework leveraging neural network verification techniques to…
Large language model (LLM) self-correction -- the ability to detect and fix errors in generated outputs -- remains largely ad hoc, relying on generic prompts such as "please reconsider your answer" without systematic error analysis or…
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…
Controlled text generation (CTG) seeks to guide large language model (LLM) output to produce text that conforms to desired criteria. The current study presents a novel CTG algorithm that enforces adherence toward specific rhetorical…
Large Language Models (LLMs) have revolutionized content creation across digital platforms, offering unprecedented capabilities in natural language generation and understanding. These models enable beneficial applications such as content…
Although large language models (LLMs) achieve effective safety alignment at the time of release, they still face various safety challenges. A key issue is that fine-tuning often compromises the safety alignment of LLMs. To address this…
With the recent advancement of Large Language Models (LLMs), generating functionally correct code has become less complicated for a wide array of developers. While using LLMs has sped up the functional development process, it poses a heavy…
Large language models (LLMs) achieve remarkable advancements by leveraging tools to interact with environments, a critical step toward generalized AI. However, the standard supervised fine-tuning (SFT) approach, which relies on large-scale…
Supervised fine-tuning (SFT) and alignment of large language models (LLMs) are key steps in providing a good user experience. However, the concept of an appropriate alignment is inherently application-dependent, and current methods often…
The rapid development of large language models (LLMs) has not only provided numerous opportunities but also presented significant challenges. This becomes particularly evident when LLMs inadvertently generate harmful or toxic content,…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end…
Large Language Models (LLMs) with safe-alignment training are powerful instruments with robust language comprehension capabilities. These models typically undergo meticulous alignment procedures involving human feedback to ensure the…
Large language models (LLMs) are now ubiquitous in everyday tools, raising urgent safety concerns about their tendency to generate harmful content. The dominant safety approach -- reinforcement learning from human feedback (RLHF) --…
Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware formation control in cluttered and dynamic environments remains a…
Aligning large language models (LLMs) with human preferences is essential for safe and useful LLMs. Previous works mainly adopt reinforcement learning (RLHF) and direct preference optimization (DPO) with human feedback for alignment.…
As large language models (LLMs) become easily accessible nowadays, the trade-off between safety and helpfulness can significantly impact user experience. A model that prioritizes safety will cause users to feel less engaged and assisted…
Motivated by Smart Manufacturing and Industry 4.0, we introduce a framework for synthesizing Abstraction-Based Controller Design (ABCD) for reach-avoid problems from Natural Language (NL) specifications using Large Language Models (LLMs). A…
Recent developments in large language models (LLMs) have led to their widespread usage for various tasks. The prevalence of LLMs in society implores the assurance on the reliability of their performance. In particular, risk-sensitive…
The deployment of multimodal large language models (MLLMs) has demonstrated remarkable success in engaging in conversations involving visual inputs, thanks to the superior power of large language models (LLMs). Those MLLMs are typically…