Related papers: RT-Grasp: Reasoning Tuning Robotic Grasping via Mu…

While large language models (LLMs) are successful in completing various language processing tasks, they easily fail to interact with the physical world by generating control sequences properly. We find that the main reason is that LLMs are…

Recent advancements in large language models (LLMs) underscore the need for stronger reasoning capabilities to solve complex problems effectively. While Chain-of-Thought (CoT) reasoning has been a step forward, it remains insufficient for…

The growing disparity between the exponential scaling of computational resources and the finite growth of high-quality text data now constrains conventional scaling approaches for large language models (LLMs). To address this challenge, we…

Prompting Large Language Models (LLMs), or providing context on the expected model of operation, is an effective way to steer the outputs of such models to satisfy human desiderata after they have been trained. But in rapidly evolving…

Large Language Models (LLMs) are increasingly adopted as evaluators, offering a scalable alternative to human annotation. However, existing supervised fine-tuning (SFT) approaches often fall short in domains that demand complex reasoning.…

Large Language Models (LLMs) exhibit a significant "embodiment gap", where their text-based representations fail to align with human sensorimotor experiences. This study systematically investigates whether and how task-specific fine-tuning…

We present a novel framework that integrates Large Language Models (LLMs) with automated planning and formal verification to streamline the creation and use of Markov Decision Processes (MDP). Our system leverages LLMs to extract structured…

Are Large language models (LLMs) temporally grounded? Since LLMs cannot perceive and interact with the environment, it is impossible to answer this question directly. Instead, we provide LLMs with textual narratives and probe them with…

Large language models (LLMs) are increasingly explored in robot manipulation, but many existing methods struggle to adapt to new environments. Many systems require either environment-specific policy training or depend on fixed prompts and…

Instruction-tuning is a widely adopted finetuning method that enables large language models (LLMs) to generate output that more closely resembles human responses. However, no studies have shown that instruction-tuning actually teaches LLMs…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

In this work, we introduce Reinforcement Pre-Training (RPT) as a new scaling paradigm for large language models and reinforcement learning (RL). Specifically, we reframe next-token prediction as a reasoning task trained using RL, where it…

Advances in the general capabilities of large language models (LLMs) have led to their use for information retrieval, and as components in automated decision systems. A faithful representation of probabilistic reasoning in these models may…

Do current large language models (LLMs) better solve graph reasoning and generation tasks with parameter updates? In this paper, we propose InstructGraph, a framework that empowers LLMs with the abilities of graph reasoning and generation…

Instruction tuning aligns the response of large language models (LLMs) with human preferences. Despite such efforts in human--LLM alignment, we find that instruction tuning does not always make LLMs human-like from a cognitive modeling…

Reasoning is a fundamental capability of large language models (LLMs), enabling them to comprehend, analyze, and solve complex problems. In this paper, we introduce TextGames, an innovative benchmark specifically crafted to assess LLMs…

Large language models (LLMs) represent a significant advancement in integrating physical robots with AI-driven systems. We showcase the capabilities of our framework within the context of the real-world household competition. This research…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

In this paper, we propose Lan-grasp, a novel approach towards more appropriate semantic grasping and placing. We leverage foundation models to equip the robot with a semantic understanding of object geometry, enabling it to identify the…

With the rapid advancement of artificial intelligence, there is an increasing demand for intelligent robots capable of assisting humans in daily tasks and performing complex operations. Such robots not only require task planning…