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Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

Large language models (LLMs) have shown remarkable reasoning capabilities, especially when prompted to generate intermediate reasoning steps (e.g., Chain-of-Thought, CoT). However, LLMs can still struggle with problems that are easy for…

Large Language Models (LLMs) have revolutionized human-AI interaction by enabling intuitive task execution through natural language prompts. Despite their potential, designing effective prompts remains a significant challenge, as small…

The emergence of large language models (LLMs) has increasingly drawn attention to the use of LLMs for human-like planning. Existing work on LLM-based planning either focuses on leveraging the inherent language generation capabilities of…

The increasing scale of large language models (LLMs) brings emergent abilities to various complex tasks requiring reasoning, such as arithmetic and commonsense reasoning. It is known that the effective design of task-specific prompts is…

In dynamic open-world environments, autonomous agents often encounter novelties that hinder their ability to find plans to achieve their goals. Specifically, traditional symbolic planners fail to generate plans when the robot's planning…

Integrating large language models (LLMs) with knowledge graphs derived from domain-specific data represents an important advancement towards more powerful and factual reasoning. As these models grow more capable, it is crucial to enable…

Large language models (LLMs) have led to a series of breakthroughs in natural language processing (NLP), owing to their excellent understanding and generation abilities. Remarkably, what further sets these models apart is the massive…

We present ControlLLM, a novel framework that enables large language models (LLMs) to utilize multi-modal tools for solving complex real-world tasks. Despite the remarkable performance of LLMs, they still struggle with tool invocation due…

Recent studies have highlighted their proficiency in some simple tasks like writing and coding through various reasoning strategies. However, LLM agents still struggle with tasks that require comprehensive planning, a process that…

Reliable task planning is pivotal for achieving long-horizon autonomy in real-world robotic systems. Large language models (LLMs) offer a promising interface for translating complex and ambiguous natural language instructions into…

Recent advancements in Large Language Models (LLMs) have led to significant breakthroughs in various natural language processing tasks. However, generating factually consistent responses in knowledge-intensive scenarios remains a challenge…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…

Large language models (LLMs) are proficient at generating fluent text with minimal task-specific supervision. Yet, their ability to provide well-grounded rationalizations for knowledge-intensive tasks remains under-explored. Such tasks,…

Prompting robots with natural language (NL) has largely been studied as what task to execute (goal selection, skill sequencing) rather than how to execute that task safely and efficiently in semantically rich, human-centric spaces. We…

Real-world path planning tasks typically involve multiple constraints beyond simple route optimization, such as the number of routes, maximum route length, depot locations, and task-specific requirements. Traditional approaches rely on…

Procedural planning, which entails decomposing a high-level goal into a sequence of temporally ordered steps, is an important yet intricate task for machines. It involves integrating common-sense knowledge to reason about complex and often…

Task-oriented dialogue (TOD) systems facilitate users in executing various activities via multi-turn dialogues, but Large Language Models (LLMs) often struggle to comprehend these intricate contexts. In this study, we propose a novel…

Multimodal Large Language Model (MLLM) Personalization is a critical research problem that facilitates personalized dialogues with MLLMs targeting specific entities (known as personalized concepts). However, existing methods and benchmarks…