Related papers: LAD-VF: LLM-Automatic Differentiation Enables Fine…

Aligning large language models (LLMs) with human values is a vital task for LLM practitioners. Current alignment techniques have several limitations: (1) requiring a large amount of annotated data; (2) demanding heavy human involvement; (3)…

Diffusion Language Models (DLMs) present a promising non-sequential paradigm for text generation, distinct from standard autoregressive (AR) approaches. However, current decoding strategies often adopt a reactive stance, underutilizing the…

Large Language Models (LLMs) are increasingly used in empirical software engineering (ESE) to automate or assist annotation tasks such as labeling commits, issues, and qualitative artifacts. Yet the reliability and reproducibility of such…

To ensure safe driving in dynamic environments, autonomous vehicles should possess the capability to accurately predict lane change intentions of surrounding vehicles in advance and forecast their future trajectories. Existing motion…

Large language models (LLMs) can perform recommendation tasks by taking prompts written in natural language as input. Compared to traditional methods such as collaborative filtering, LLM-based recommendation offers advantages in handling…

Visual instruction tuning has become the predominant technology in eliciting the multimodal task-solving capabilities of large vision-language models (LVLMs). Despite the success, as visual instructions require images as the input, it would…

We present a novel framework that integrates Large Language Models (LLMs) with automated planning and formal verification to streamline the creation and use of Markov Decision Processes (MDP). Our system leverages LLMs to extract structured…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

Large language models (LLMs) have shown promise in robotic procedural planning, yet their human-centric reasoning often omits the low-level, grounded details needed for robotic execution. Vision-language models (VLMs) offer a path toward…

Vision-language models (VLMs) can learn high-quality representations from a large-scale training dataset of image-text pairs. Prompt learning is a popular approach to fine-tuning VLM to adapt them to downstream tasks. Despite the satisfying…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

Finite state machines (FSMs) are widely used to manage robot behavior logic, particularly in real-world applications that require a high degree of reliability and structure. However, traditional manual FSM design and modification processes…

Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…

Large Language Models (LLMs) perform best with well-crafted prompts, yet prompt engineering remains manual, inconsistent, and inaccessible to non-experts. We introduce Promptomatix, an automatic prompt optimization framework that transforms…

Large Language Models (LLMs) acquire extensive knowledge and remarkable abilities from extensive text corpora, making them powerful tools for various applications. To make LLMs more usable, aligning them with human preferences is essential.…

Fine-tuning large language models (LLMs) often causes overfitting to specific prompt wording, where minor phrasing variations drastically reduce performance. To address this, we propose Prompt-Agnostic Fine-Tuning (PAFT), a method that…

This paper investigates using large language models (LLMs) to generate control actions directly, without requiring control-engineering expertise or hand-tuned algorithms. We implement several variants: (i) prompt-only, (ii) tool-assisted…

Reinforcement Learning (RL) plays an important role in the robotic manipulation domain since it allows self-learning from trial-and-error interactions with the environment. Still, sample efficiency and reward specification seriously limit…

With the success of pre-trained visual-language (VL) models such as CLIP in visual representation tasks, transferring pre-trained models to downstream tasks has become a crucial paradigm. Recently, the prompt tuning paradigm, which draws…