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Large Language Models (LLMs) deliver powerful AI capabilities but face deployment challenges due to high resource costs and latency, whereas Small Language Models (SLMs) offer efficiency and deployability at the cost of reduced performance.…

Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid robots, memory also plays a critical role in fostering…

The emergence of large language models such as ChatGPT, Gemini, and others highlights the importance of evaluating their diverse capabilities, ranging from natural language understanding to code generation. However, their performance on…

Achieving balanced alignment of large language models (LLMs) in terms of Helpfulness, Honesty, and Harmlessness (3H optimization) constitutes a cornerstone of responsible AI. Existing methods like data mixture strategies face limitations,…

We present Butter-Bench, a benchmark evaluating large language model (LLM) controlled robots for practical intelligence, defined as the ability to navigate the messiness of the physical world. Current state-of-the-art robotic systems use a…

Developing autonomous home robots controlled by natural language has long been a pursuit of humanity. While advancements in large language models (LLMs) and embodied intelligence make this goal closer, several challenges persist: the lack…

The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…

Artificial Intelligence (AI), particularly large language models (LLMs), holds the potential to bridge language and information gaps, which can benefit the economies of developing nations. However, our analysis of FLORES-200, FLORES+,…

Multimodal Large Language Models (MLLMs) have shown impressive performance on vision-language tasks, but their long Chain-of-Thought (CoT) capabilities in multimodal scenarios remain underexplored. Inspired by OpenAI's o3 model, which…

Vision-language-action (VLA) models represent a promising direction for developing general-purpose robotic systems, demonstrating the ability to combine visual understanding, language comprehension, and action generation. However,…

When encountering increasingly frequent performance improvements or cost reductions from a new large language model (LLM), developers of applications leveraging LLMs must decide whether to take advantage of these improvements or stay with…

This study reveals how frontier Large Language Models LLMs can "game the system" when faced with impossible situations, a critical security and alignment concern. Using a novel textual simulation approach, we presented three leading LLMs…

In this study, we consider the problem of predicting task success for open-vocabulary manipulation by a manipulator, based on instruction sentences and egocentric images before and after manipulation. Conventional approaches, including…

Large language models (LLMs) have demonstrated exciting progress in acquiring diverse new capabilities through in-context learning, ranging from logical reasoning to code-writing. Robotics researchers have also explored using LLMs to…

Large Language Models (LLMs) possess substantial reasoning capabilities and are increasingly applied to optimization tasks, particularly in synergy with evolutionary computation. However, while recent surveys have explored specific aspects…

The emergence of Large Language Models (LLMs) has improved the prospects for robotic tasks. However, existing benchmarks are still limited to single tasks with limited generalization capabilities. In this work, we introduce a comprehensive…

We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…

Large Transformer-based language models are pre-trained on corpora of varying sizes, for a different number of steps and with different batch sizes. At the same time, more fundamental components, such as the pre-training objective or…

Large language models (LLMs) exhibit a wide range of promising capabilities -- from step-by-step planning to commonsense reasoning -- that may provide utility for robots, but remain prone to confidently hallucinated predictions. In this…

Conventional mechanical design follows an iterative process in which initial concepts are refined through cycles of expert assessment and resource-intensive Finite Element Method (FEM) analysis to meet performance goals. While machine…