Related papers: Hierarchical Planning for Complex Tasks with Knowl…

Large Language Models (LLMs) have achieved impressive performance across a wide range of applications. However, they often suffer from hallucinations in knowledge-intensive domains due to their reliance on static pretraining corpora. To…

Retrieval-Augmented Generation (RAG) has proven effective in integrating external knowledge into large language models (LLMs) for solving question-answer (QA) tasks. The state-of-the-art RAG approaches often use the graph data as the…

Generative Large Language Models (LLMs) are a promising approach to structuring knowledge contained within the corpora of research literature produced by large-scale and long-running scientific collaborations. Within experimental particle…

We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-level motion generation conditioned on the specified goal. At…

Retrieval-augmented generation (RAG) has improved large language models (LLMs) by using knowledge retrieval to overcome knowledge deficiencies. However, current RAG methods often fall short of ensuring the depth and completeness of…

This paper addresses planning problems for mobile robots. We consider missions that require accomplishing multiple high-level sub-tasks, expressed in natural language (NL), in a temporal and logical order. To formally define the mission, we…

Extensive research has investigated the integration of large language models (LLMs) with knowledge graphs to enhance the reasoning process. However, understanding how models perform reasoning utilizing structured graph knowledge remains…

A critical question about Large Language Models (LLMs) is whether their apparent deficiency in mathematical reasoning is inherent, or merely a result of insufficient exposure to high-quality mathematical data. To explore this, we developed…

The emergence of Large Language Models (LLMs) has significantly advanced natural language processing, but these models often generate factually incorrect information, known as "hallucination". Initial retrieval-augmented generation (RAG)…

Large language models (LLMs) inevitably exhibit hallucinations since the accuracy of generated texts cannot be secured solely by the parametric knowledge they encapsulate. Although retrieval-augmented generation (RAG) is a practicable…

Large Language Models are now key assistants in human decision-making processes. However, a common note always seems to follow: "LLMs can make mistakes. Be careful with important info." This points to the reality that not all outputs from…

Chain-of-thought (CoT) reasoning boosts large language models' (LLMs) performance on complex tasks but faces two key limitations: a lack of reliability when solely relying on LLM-generated reasoning chains and lower reasoning performance…

Large language models (LLMs) have demonstrated remarkable performance on question-answering (QA) tasks because of their superior capabilities in natural language understanding and generation. However, LLM-based QA struggles with complex QA…

Retrieval-Augmented Generation (RAG) has become a core paradigm for enhancing factual grounding and multi-hop reasoning in Large Language Models (LLMs). Traditional text-based RAG often retrieves logically irrelevant pseudo-evidence, while…

Retrieval-augmented generation (RAG) is a promising way to improve large language models (LLMs) for generating more factual, accurate, and up-to-date content. Existing methods either optimize prompts to guide LLMs in leveraging retrieved…

Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This work aims to leverage these new capabilities with an…

Knowledge graphs and large language models (LLMs) are key tools for biomedical knowledge integration and reasoning, facilitating structured organization of scientific articles and discovery of complex semantic relationships. However,…

Evaluations of large language models (LLMs) primarily emphasize convergent logical reasoning, where success is defined by producing a single correct proof. However, many real-world reasoning problems admit multiple valid derivations,…

Heterogeneous multi-robot systems are increasingly used in long-horizon missions requiring coordinated planning across diverse capabilities. However, existing planning approaches struggle to construct accurate symbolic representations and…

Retrieval-Augmented Generation (RAG) enhances Large Language Models (LLMs) by retrieving relevant memories from an external database. However, existing RAG methods typically organize all memories in a whole database, potentially limiting…