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Large language models (LLMs) have demonstrated remarkable performance across a wide array of NLP tasks. However, their efficacy is undermined by undesired and inconsistent behaviors, including hallucination, unfaithful reasoning, and toxic…

Large language models (LLMs) have achieved remarkable success in a wide range of natural language processing tasks and can be adapted through prompting. However, they remain suboptimal in multi-turn interactions, often relying on incorrect…

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) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…

Large Language Models (LLMs) are able to improve their responses when instructed to do so, a capability known as self-correction. When instructions provide only the task's goal without specific details about potential issues in the…

Evaluating natural language generation systems is challenging due to the diversity of valid outputs. While human evaluation is the gold standard, it suffers from inconsistencies, lack of standardisation, and demographic biases, limiting…

Large Language Models (LLMs) are able to improve their responses when instructed to do so, a capability known as self-correction. When instructions provide only a general and abstract goal without specific details about potential issues in…

Large Language Models (LLMs) have shown remarkable performance in various basic natural language tasks. For completing the complex task, we still need a plan for the task to guide LLMs to generate the specific solutions step by step. LLMs…

Large language models (LLMs) have become increasingly capable of following instructions and complex reasoning, making prompting a flexible interface for adapting models without parameter updates. Yet prompt design remains labor-intensive…

Large Language Models (LLMs) have emerged as a groundbreaking technology with their unparalleled text generation capabilities across various applications. Nevertheless, concerns persist regarding the accuracy and appropriateness of their…

Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task planning, and even…

Traditional robot task planning methods face challenges when dealing with highly unstructured environments and complex tasks. We propose a task planning method that combines human expertise with an LLM and have designed an LLM prompt…

In this article, we introduce 'Internalized Self-Correction' (InSeC) for large language models (LLMs). While many approaches exist for self-reflection at inference time, we propose a novel method that combines ideas from negative sampling,…

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…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

This paper studies close-loop task planning, which refers to the process of generating a sequence of skills (a plan) to accomplish a specific goal while adapting the plan based on real-time observations. Recently, prompting Large Language…

With the advent of Large Language Models (LLMs), generating rule-based data for real-world applications has become more accessible. Due to the inherent ambiguity of natural language and the complexity of rule sets, especially in long…

Many recent studies have shown the ability of large language models (LLMs) to achieve state-of-the-art performance on many NLP tasks, such as question answering, text summarization, coding, and translation. In some cases, the results…

Large language models (LLMs) have significantly benefited from training on diverse, high-quality task-specific data, leading to impressive performance across a range of downstream applications. Current methods often rely on human-annotated…

In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert…