Related papers: LLM Trainer: Automated Robotic Data Generating via…

Understanding complex scientific and mathematical concepts, particularly those presented in dense research papers, poses a significant challenge for learners. Dynamic visualizations can greatly enhance comprehension, but creating them…

Due to limited supervised training data, large language models (LLMs) are typically pre-trained via a self-supervised "predict the next word" objective on a vast amount of unstructured text data. To make the resulting model useful to users,…

Large Language Models (LLMs) have significantly advanced artificial intelligence by optimizing traditional Natural Language Processing (NLP) workflows, facilitating their integration into various systems. Many such NLP systems, including…

Large Language Models (LLMs) demand significant computational resources, making it essential to enhance their capabilities without retraining from scratch. A key challenge in this domain is \textit{catastrophic forgetting} (CF), which…

Recent advancements in reasoning abilities of Large Language Models (LLM) has promoted their usage in problems that require high-level planning for robots and artificial agents. However, current techniques that utilize LLMs for such…

The quality of Supervised Fine-Tuning (SFT) data plays a critical role in enhancing the conversational capabilities of Large Language Models (LLMs). However, as LLMs become more advanced, the availability of high-quality human-annotated SFT…

An embodied agent assisting humans is often asked to complete new tasks, and there may not be sufficient time or labeled examples to train the agent to perform these new tasks. Large Language Models (LLMs) trained on considerable knowledge…

Large language models (LLMs) and high-capacity encoders have advanced zero and few-shot classification, but their inference cost and latency limit practical deployment. We propose training lightweight text classifiers using dynamically…

Generating insightful and actionable information from databases is critical in data analysis. This paper introduces a novel approach using Large Language Models (LLMs) to automatically generate textual insights. Given a multi-table database…

Large Language Models (LLMs) have improved substantially alignment, yet their behavior remains highly sensitive to prompt phrasing. This brittleness has motivated automated prompt engineering, but most existing methods (i) require a…

Teaching large language models (LLMs) to use tools is crucial for improving their problem-solving abilities and expanding their applications. However, effectively using tools is challenging because it requires a deep understanding of tool…

Developing effective instruction-following policies in reinforcement learning remains challenging due to the reliance on extensive human-labeled instruction datasets and the difficulty of learning from sparse rewards. In this paper, we…

Instruction tuning has emerged to enhance the capabilities of large language models (LLMs) to comprehend instructions and generate appropriate responses. Existing methods either manually annotate or employ LLM (e.g., GPT-series) to generate…

Today, most large-scale conversational AI agents (e.g. Alexa, Siri, or Google Assistant) are built using manually annotated data to train the different components of the system. Typically, the accuracy of the ML models in these components…

Fine-tuning large language models (LLMs) on multi-task instruction-following data has been proven to be a powerful learning paradigm for improving their zero-shot capabilities on new tasks. Recent works about high-quality…

Large Language Models (LLMs) have achieved remarkable success through imitation learning on vast text corpora, but this paradigm creates a training-generation gap and limits robust reasoning. Reinforcement learning (RL) offers a more…

The acquisition of large-scale and diverse demonstration data are essential for improving robotic imitation learning generalization. However, generating such data for complex manipulations is challenging in real-world settings. We introduce…

Code LLMs have shown promising results with converting tasks in natural language to programs that can be executed by service robots. We are interested in finetuning small, specialized LLMs for this purpose, but collecting datasets of…

Recent advancements in large language models (LLMs) have enabled understanding webpage contexts, product details, and human instructions. Utilizing LLMs as the foundational architecture for either reward models or policies in reinforcement…

Robot end users increasingly require accessible means of specifying tasks for robots to perform. Two common end-user programming paradigms include drag-and-drop interfaces and natural language programming. Although natural language…