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The alignment of large language models (LLMs) with human values is critical as these models become increasingly integrated into various societal and decision-making processes. Traditional methods, such as reinforcement learning from human…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Fine-tuning Large Language Models (LLMs) adapts a trained model to specific downstream tasks, significantly improving task-specific performance. Supervised Fine-Tuning (SFT) is a common approach, where an LLM is trained to produce desired…

This paper presents INPROVF, an automatic framework that combines large language models (LLMs) and formal methods to speed up the repair process of high-level robot controllers. Previous approaches based solely on formal methods are…

Ensuring alignment with human preferences is a crucial characteristic of large language models (LLMs). Presently, the primary alignment methods, RLHF and DPO, require extensive human annotation, which is expensive despite their efficacy.…

Current robot autonomy struggles to operate beyond the assumed Operational Design Domain (ODD), the specific set of conditions and environments in which the system is designed to function, while the real-world is rife with uncertainties…

Length control in Large Language Models (LLMs) is a crucial but under-addressed challenge, with applications ranging from voice interfaces requiring concise responses to research summaries needing comprehensive outputs. Current approaches…

Large Language Models (LLMs) have reshaped natural language processing, powering applications from multi-hop retrieval and question answering to autonomous agent workflows. Yet, prompt engineering -- the task of crafting textual inputs to…

Out-of-distribution (OOD) scenarios in autonomous driving pose critical challenges, as planners often fail to generalize beyond their training experience, leading to unsafe or unexpected behavior. Vision-Language Models (VLMs) have shown…

With rapid advances in code generation, reasoning, and problem-solving, Large Language Models (LLMs) are increasingly applied in robotics. Most existing work focuses on high-level tasks such as task decomposition. A few studies have…

One core capability of large language models (LLMs) is to follow natural language instructions. However, the issue of automatically constructing high-quality training data to enhance the complex instruction-following abilities of LLMs…

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 vision language models (LVLMs) have demonstrated impressive performance across a wide range of tasks. These capabilities largely stem from visual instruction tuning, which fine-tunes models on datasets consisting of curated…

Physically Assistive Robots (PARs) require personalized behaviors to ensure user safety and comfort. However, traditional preference learning methods, like exhaustive pairwise comparisons, cause severe physical and cognitive fatigue for…

Large Language Models (LLMs) show promise as planners for embodied AI, but their stochastic nature lacks formal reasoning, preventing strict safety guarantees for physical deployment. Current approaches often rely on unreliable LLMs for…

Large Language Models (LLMs) show promise in automated software engineering, yet their guarantee of correctness is frequently undermined by erroneous or hallucinated code. To enforce model honesty, formal verification requires LLMs to…

Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity…

The alignment of large language models (LLMs) aims to ensure their outputs adhere to human values, ethical standards, and legal norms. Traditional alignment methods often rely on resource-intensive fine-tuning (FT), which may suffer from…

Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language models (LLMs) for task planning seeks to address the…

Recent advances in alignment techniques such as Supervised Fine-Tuning (SFT), Reinforcement Learning from Human Feedback (RLHF), and Direct Preference Optimization (DPO) have improved the safety of large language models (LLMs). However,…