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While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…
Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…
Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the…
In this work, we propose GLOV, which enables Large Language Models (LLMs) to act as implicit optimizers for Vision-Language Models (VLMs) to enhance downstream vision tasks. GLOV prompts an LLM with the downstream task description, querying…
Applying reinforcement learning (RL) to real-world tasks requires converting informal descriptions into a formal Markov decision process (MDP), implementing an executable environment, and training a policy agent. Automating this process is…
With the broader adoption and highly successful development of Large Language Models (LLMs), there has been growing interest and demand for applying LLMs to autonomous driving technology. Driven by their natural language understanding and…
Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…
Large Language Models (LLM) alignment aims to prevent models from producing content that misaligns with human expectations, which can lead to ethical and legal concerns. In the last few years, Reinforcement Learning from Human Feedback…
Large language models (LLMs) have demonstrated remarkable performance across a wide array of NLP tasks. However, their efficacy is undermined by undesired and inconsistent behaviors, including hallucination, unfaithful reasoning, and toxic…
Natural language (NL) navigation for low-altitude unmanned aerial vehicles (UAVs) offers an intelligent and convenient solution for low-altitude aerial services by enabling an intuitive interface for non-expert operators. However, deploying…
Recent Large Language Models (LLMs) have demonstrated satisfying general instruction following ability. However, small LLMs with about 7B parameters still struggle fine-grained format following (e.g., JSON format), which seriously hinder…
The integration of large language models (LLMs) into automated algorithm design has shown promising potential. A prevalent approach embeds LLMs within search routines to iteratively generate and refine candidate algorithms. However, most…
Instruction Fine-Tuning (IFT) is a powerful paradigm that strengthens the zero-shot capabilities of Large Language Models (LLMs), but in doing so induces new evaluation metric requirements. We show LLM-based metrics to be well adapted to…
Traditional reinforcement learning from human feedback (RLHF) for large language models (LLMs) relies on expensive human-annotated datasets, while Reinforcement Learning from AI Feedback (RLAIF) also incurs significant costs, requiring the…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
Going beyond mere fine-tuning of vision-language models (VLMs), learnable prompt tuning has emerged as a promising, resource-efficient alternative. Despite their potential, effectively learning prompts faces the following challenges: (i)…
Recent advances in large video-language models (VLMs) rely on extensive fine-tuning techniques that strengthen alignment between textual and visual comprehension. Leading pipelines typically pair supervised fine-tuning (SFT) with…
Multimodal Large Language Models (MLLMs) pose critical safety challenges, as they are susceptible not only to adversarial attacks such as jailbreaking but also to inadvertently generating harmful content for benign users. While internal…
Large Language Models (LLMs) are increasingly applied to automate software engineering tasks, including the generation of UML class diagrams from natural language descriptions. While prior work demonstrates that LLMs can produce…
Model alignment with human preferences is an essential step in making Large Language Models (LLMs) helpful and consistent with human values. It typically consists of supervised fine-tuning (SFT) and reinforcement learning from human…