Related papers: Self-Corrective Task Planning by Inverse Prompting…

Large language models (LLMs) enable system builders today to create competent NLP systems through prompting, where they only need to describe the task in natural language and provide a few examples. However, in other ways, LLMs are a step…

Large Language Models (LLMs) often generate substantively relevant content but fail to adhere to formal constraints, leading to outputs that are conceptually correct but procedurally flawed. Traditional prompt refinement approaches focus on…

Large language models (LLMs) have revolutionized a large variety of NLP tasks. An active debate is to what extent they can do reasoning and planning. Prior work has assessed the latter in the specific context of PDDL planning, based on…

Large Language Models (LLMs) have demonstrated exceptional abilities across a broad range of language-related tasks, including generating solutions to complex reasoning problems. An effective technique to enhance LLM performance is…

A central piece in enabling intelligent agentic behavior in foundation models is to make them capable of introspecting upon their behavior, reasoning, and correcting their mistakes as more computation or interaction is available. Even the…

Large Language Models (LLMs) have shown strong promise for robotic task planning, particularly through the automatic generation of symbolic planning domains. However, prior work mainly treats generated domains as planning utilities. Such…

Fine-tuning large language models (LLMs) on multi-task instruction-following data has been proven to be a powerful learning paradigm for improving their zero-shot capabilities on new tasks. Recent works about high-quality…

Modern large language models (LLMs) are capable of interpreting input strings as instructions, or prompts, and carry out tasks based on them. Unlike traditional learners, LLMs cannot use back-propagation to obtain feedback, and condition…

While large language models (LLMs) such as ChatGPT and PaLM have demonstrated remarkable performance in various language understanding and generation tasks, their capabilities in complex reasoning and intricate knowledge utilization still…

Generative large language models (LLMs) with instruct training such as GPT-4 can follow human-provided instruction prompts and generate human-like responses to these prompts. Apart from natural language responses, they have also been found…

Recently, Large Language Models (LLMs) have achieved remarkable success using in-context learning (ICL) in the language domain. However, leveraging the ICL capabilities within LLMs to directly predict robot actions remains largely…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…

Recently, advanced large language models (LLMs) have emerged at an increasingly rapid pace. However, when faced with complex problems, most users are often unable to provide accurate and effective prompts to interact with LLMs, thus…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…

Reverse thinking plays a crucial role in human reasoning. Humans can reason not only from a problem to a solution but also in reverse, i.e., start from the solution and reason towards the problem. This often enhances overall reasoning…

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…

Prompting techniques such as chain-of-thought have established themselves as a popular vehicle for improving the outputs of large language models (LLMs). For code generation, however, their exact mechanics and efficacy are under-explored.…

The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…

Going beyond mimicking limited human experiences, recent studies show initial evidence that, like humans, large language models (LLMs) are capable of improving their abilities purely by self-correction, i.e., correcting previous responses…