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Large pretrained models are showing increasingly better performance in reasoning and planning tasks across different modalities, opening the possibility to leverage them for complex sequential decision making problems. In this paper, we…

Large Language Models (LLMs) excel in generating personalized content and facilitating interactive dialogues, showcasing their remarkable aptitude for a myriad of applications. However, their capabilities in reasoning and providing…

Task-oriented grasping (TOG) refers to the problem of predicting grasps on an object that enable subsequent manipulation tasks. To model the complex relationships between objects, tasks, and grasps, existing methods incorporate semantic…

Large Language Models (LLMs) have achieved remarkable success across a wide range of natural language tasks, and recent efforts have sought to extend their capabilities to multimodal domains and resource-constrained environments. However,…

Reasoning lies at the heart of intelligence, shaping the ability to make decisions, draw conclusions, and generalize across domains. In artificial intelligence, as systems increasingly operate in open, uncertain, and multimodal…

The proliferation of Large Language Models (LLMs) in medicine has enabled impressive capabilities, yet a critical gap remains in their ability to perform systematic, transparent, and verifiable reasoning, a cornerstone of clinical practice.…

Inspired by the recent advancements of Large Language Models (LLMs) in NLP tasks, there's growing interest in applying LLMs to graph-related tasks. This study delves into the capabilities of instruction-following LLMs for engaging with…

Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Recent advancements highlight the success of instruction tuning with large language models (LLMs) utilizing Chain-of-Thought (CoT) data for mathematical reasoning tasks. Despite the fine-tuned LLMs, challenges persist, such as incorrect,…

In reasoning tasks, even a minor error can cascade into inaccurate results, leading to suboptimal performance of large language models in such domains. Earlier fine-tuning approaches sought to mitigate this by leveraging more precise…

Flexible instruction-guided 6-DoF grasping is a significant yet challenging task for real-world robotic systems. Existing methods utilize the contextual understanding capabilities of the large language models (LLMs) to establish mappings…

Numerous decision-making tasks require estimating causal effects under interventions on different parts of a system. As practitioners consider using large language models (LLMs) to automate decisions, studying their causal reasoning…

Human reasoning involves different strategies, each suited to specific problems. Prior work shows that large language model (LLMs) tend to favor a single reasoning strategy, potentially limiting their effectiveness in diverse reasoning…

Reinforcement Learning (RL) has emerged as a transformative approach for aligning and enhancing Large Language Models (LLMs), addressing critical challenges in instruction following, ethical alignment, and reasoning capabilities. This…

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…

The observed similarities in the behavior of humans and Large Language Models (LLMs) have prompted researchers to consider the potential of using LLMs as models of human cognition. However, several significant challenges must be addressed…

Reasoning-enhanced large language models (LLMs) explicitly generate intermediate reasoning steps prior to generating final answers, helping the model excel in complex problem-solving. In this paper, we demonstrate that this emerging…

We surely enjoy the larger the better models for their superior performance in the last couple of years when both the hardware and software support the birth of such extremely huge models. The applied fields include text mining and others.…