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Reinforcement learning (RL) is a promising approach for robotic manipulation, but it can suffer from low sample efficiency and requires extensive exploration of large state-action spaces. Recent methods leverage the commonsense knowledge…
We present Natural Language Tools (NLT), a framework that replaces programmatic JSON tool calling in large language models (LLMs) with natural language outputs. By decoupling tool selection from response generation, NLT eliminates task…
Effectively translating between natural language (NL) and formal logics like Linear Temporal Logic (LTL) requires expertise that limits formal verification's reach in safety-critical development. Template-based approaches sacrifice…
Large language models (LLMs) have emerged as a dominant AI paradigm due to their exceptional text understanding and generation capabilities. However, their tendency to generate inconsistent or erroneous outputs challenges their reliability,…
Large language models (LLMs) are the result of a massive experiment in bottom-up, data-driven reverse engineering of language at scale. Despite their utility in a number of downstream NLP tasks, ample research has shown that LLMs are…
It has been an ambition of many to control a robot for a complex task using natural language (NL). The rise of large language models (LLMs) makes it closer to coming true. However, an LLM-powered system still suffers from the ambiguity…
We present a framework for training trustworthy large language model (LLM) agents for optimization modeling via a verifiable synthetic data generation pipeline. Focusing on linear and mixed-integer linear programming, our approach begins…
Robotics researchers increasingly leverage large language models (LLM) in robotics systems, using them as interfaces to receive task commands, generate task plans, form team coalitions, and allocate tasks among multi-robot and human agents.…
Large Language Models (LLMs) have experienced great advancements in the last year resulting in an increase of these models in several fields to face natural language tasks. The integration of these models in robotics can also help to…
Natural language explanations play a fundamental role in Natural Language Inference (NLI) by revealing how premises logically entail hypotheses. Recent work has shown that the interaction of large language models (LLMs) with theorem provers…
Reinforcement learning (RL) has emerged as a powerful paradigm for fine-tuning Large Language Models (LLMs) for text generation. In particular, recent LLMs such as ChatGPT and GPT-4 can engage in fluent conversations with users after…
We claim that LLMs can be paired with formal analysis methods to provide accessible, relevant feedback for HRI tasks. While logic specifications are useful for defining and assessing a task, these representations are not easily interpreted…
Recently, Large Language Models (LLMs) have showcased their potential in various natural language processing tasks, including code generation. However, while significant progress has been made in adapting LLMs to generate code for several…
Converting high-level tasks described by natural language into formal specifications like Linear Temporal Logic (LTL) is a key step towards providing formal safety guarantees over cyber-physical systems (CPS). While the compliance of the…
Large Language Models (LLMs) have shown remarkable performance in various natural language processing tasks but face challenges in mathematical reasoning, where complex problem-solving requires both linguistic understanding and mathematical…
Recent advancements in Large Language Models (LLMs) have demonstrated exceptional capabilities in natural language understanding and generation. While these models excel in general complex reasoning tasks, they still face challenges in…
Recent advancements in natural language processing (NLP) have enabled the development of automated tools that support various domains, including software engineering. However, while NLP and artificial intelligence (AI) research has…
We propose to utilize an instruction-tuned large language model (LLM) for guiding the text generation process in automatic speech recognition (ASR). Modern large language models (LLMs) are adept at performing various text generation tasks…
Large Language Models (LLMs) have recently revolutionized the NLP field, while they still fall short in some specific down-stream tasks. In the work, we focus on utilizing LLMs to perform machine translation, where we observe that two…
Large language models (LLMs) have achieved remarkable success across various natural language processing (NLP) tasks. However, recent studies suggest that they still face challenges in performing fundamental NLP tasks essential for deep…