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Large language models (LLMs) are empowering decision-making in several applications, including tool or API usage and answering multiple-choice questions (MCQs). However, incorrect outputs pose significant risks in high-stakes domains like…

This paper addresses task planning problems for language-instructed robot teams. Tasks are expressed in natural language (NL), requiring the robots to apply their capabilities at various locations and semantic objects. Several recent works…

Continual Learning (CL) is essential for enabling self-evolving large language models (LLMs) to adapt and remain effective amid rapid knowledge growth. Yet, despite its importance, little attention has been given to establishing statistical…

Large language models (LLMs) are prone to generating factually incorrect outputs. Recent work has applied conformal prediction to provide uncertainty estimates and statistical guarantees for the factuality of LLM generations. However,…

This study aims to address the pervasive challenge of quantifying uncertainty in large language models (LLMs) without logit-access. Conformal Prediction (CP), known for its model-agnostic and distribution-free features, is a desired…

Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…

Large language models (LLMs) are increasingly used in statistical research and applications. However,they are also notorious for unreliable or biased information. Here, we explore whether LLMs can be used to improve the precision of…

Inspired by the exceptional general intelligence of Large Language Models (LLMs), researchers have begun to explore their application in pioneering the next generation of recommender systems - systems that are conversational, explainable,…

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) trained on extensive textual corpora have emerged as leading solutions for a broad array of Natural Language Processing (NLP) tasks. Despite their notable performance, these models are prone to certain…

Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

Large language models (LLMs) have made significant progress in natural language understanding and generation, driven by scalable pretraining and advanced finetuning. However, enhancing reasoning abilities in LLMs, particularly via…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

We propose a novel approach to conformal prediction for generative language models (LMs). Standard conformal prediction produces prediction sets -- in place of single predictions -- that have rigorous, statistical performance guarantees. LM…

Fine-tuned Large Language Models (LLMs) often demonstrate poor calibration, with their confidence scores misaligned with actual performance. While calibration has been extensively studied in models trained from scratch, the impact of LLMs'…

In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes…

Large Language Models (LLMs), with their remarkable ability to tackle challenging and unseen reasoning problems, hold immense potential for tabular learning, that is vital for many real-world applications. In this paper, we propose a novel…

Large language models (LLMs) exhibit a wide range of promising capabilities -- from step-by-step planning to commonsense reasoning -- that may provide utility for robots, but remain prone to confidently hallucinated predictions. In this…

Instruction tuning has emerged as the key in aligning large language models (LLMs) with specific task instructions, thereby mitigating the discrepancy between the next-token prediction objective and users' actual goals. To reduce the labor…

Conventional mechanical design follows an iterative process in which initial concepts are refined through cycles of expert assessment and resource-intensive Finite Element Method (FEM) analysis to meet performance goals. While machine…