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Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…

Supervised fine-tuning (SFT) is a critical step in aligning large language models (LLMs) with human instructions and values, yet many aspects of SFT remain poorly understood. We trained a wide range of base models on a variety of datasets…

Vision-Language Models (VLMs) demonstrate remarkable potential in robotic manipulation, yet challenges persist in executing complex fine manipulation tasks with high speed and precision. While excelling at high-level planning, existing VLM…

Large Language Models (LLMs), being generic task solvers, are versatile. However, despite the vast amount of data they are trained on, there are speculations about their adaptation capabilities to a new domain. Additionally, the simple…

Various methods have been proposed for utilizing Large Language Models (LLMs) in autonomous driving. One strategy of using LLMs for autonomous driving involves inputting surrounding objects as text prompts to the LLMs, along with their…

We propose that small pretrained foundational generative language models with millions of parameters can be utilized as a general learning framework for sequence-based tasks. Our proposal overcomes the computational resource, skill set, and…

Formal languages are an integral part of modeling and simulation. They allow the distillation of knowledge into concise simulation models amenable to automatic execution, interpretation, and analysis. However, the arguably most humanly…

State-of-the-art results in large language models (LLMs) often rely on scale, which becomes computationally expensive. This has sparked a research agenda to reduce these models' parameter counts and computational costs without significantly…

Large language models (LLMs) have shown great potential in domain-specific machine translation (MT). However, one major issue is that LLMs pre-trained on general domain corpus might not generalize well to specific domains due to the lack of…

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) are conversational interfaces. As such, LLMs have the potential to assist their users not only when they can fully specify the task at hand, but also to help them define, explore, and refine what they need…

We introduce Language Feedback Models (LFMs) that identify desirable behaviour - actions that help achieve tasks specified in the instruction - for imitation learning in instruction following. To train LFMs, we obtain feedback from Large…

With the continuous growth in the number of parameters of transformer-based pretrained language models (PLMs), particularly the emergence of large language models (LLMs) with billions of parameters, many natural language processing (NLP)…

Automated Program Repair (APR) uses various tools and techniques to help developers achieve functional and error-free code faster. In recent years, Large Language Models (LLMs) have gained popularity as components in APR tool chains because…

In recent years, pre-trained large language models (LLMs) have demonstrated remarkable efficiency in achieving an inference-time few-shot learning capability known as in-context learning. However, existing literature has highlighted the…

Despite the impressive performance of large language models (LLMs), they often lag behind specialized models in various tasks. LLMs only use a fraction of the existing training data for in-context learning, while task-specific models…

The rapid advancements in Large Language Models (LLMs) have revolutionized natural language processing (NLP) and related fields. However, fine-tuning these models for specific tasks remains computationally expensive and risks degrading…

Recent work in large language modeling (LLMs) has used fine-tuning to align outputs with the preferences of a prototypical user. This work assumes that human preferences are static and homogeneous across individuals, so that aligning to a a…

Imposing constraints on machine translation systems presents a challenging issue because these systems are not trained to make use of constraints in generating adequate, fluent translations. In this paper, we leverage the capabilities of…

Large models such as Large Language Models (LLMs) and Vision Language Models (VLMs) have transformed artificial intelligence, powering applications in natural language processing, computer vision, and multimodal learning. However, fully…