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We introduce a new method that extracts knowledge from a large language model (LLM) to produce object-level plans, which describe high-level changes to object state, and uses them to bootstrap task and motion planning (TAMP). Existing work…
Large Language Models (LLMs) have been widely used as general-purpose AI agents showing comparable performance on many downstream tasks. However, existing work shows that it is challenging for LLMs to integrate structured data (e.g. KG,…
Recent large language models (LLMs) are promising for making decisions in grounded environments. However, LLMs frequently fail in complex decision-making tasks due to the misalignment between the pre-trained knowledge in LLMs and the actual…
Multi-robot task planning requires decomposing natural-language instructions into executable actions for heterogeneous robot teams. Conventional Planning Domain Definition Language (PDDL) planners provide rigorous guarantees but struggle to…
For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…
Large language models(LLMs), with their powerful language generation and reasoning capabilities, have already achieved notable success in many domains, e.g., math and code generation. However, they often fall short when tackling real-life…
In modern large language models (LLMs), handling very long context lengths presents significant challenges as it causes slower inference speeds and increased memory costs. Additionally, most existing pre-trained LLMs fail to generalize…
Large language models (LLMs), when guided by explicit textual plans, can perform reliable step-by-step reasoning during problem-solving. However, generating accurate and effective textual plans remains challenging due to LLM hallucinations…
Large language models (LLMs) have recently attracted considerable interest for their ability to perform complex reasoning tasks, such as chain-of-thought (CoT) reasoning. However, most of the existing approaches to enhance this ability rely…
Addressing large-scale planning problems has become one of the central challenges in the planning community, deriving from the state-space explosion caused by growing objects and actions. Recently, researchers have explored the…
Large-language-models (LLMs) demonstrate enormous utility in long-context tasks which require processing prompts that consist of tens to hundreds of thousands of tokens. However, existing LLM training libraries do not provide easy to use…
Recently, sequential recommendation has been adapted to the LLM paradigm to enjoy the power of LLMs. LLM-based methods usually formulate recommendation information into natural language and the model is trained to predict the next item in…
Large Language Models (LLMs) have demonstrated remarkable capabilities in modeling sequential textual data and generalizing across diverse tasks. However, adapting LLMs to effectively handle structural data, such as knowledge graphs or web…
Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This work aims to leverage these new capabilities with an…
Large Language Models (LLMs) are increasingly being used for interactive decision-making tasks requiring planning and adapting to the environment. Recent works employ LLMs-as-agents in broadly two ways: iteratively determining the next…
Language models can be used to solve long-horizon planning problems in two distinct modes: a fast 'System-1' mode, directly generating plans without any explicit search or backtracking, and a slow 'System-2' mode, planning step-by-step by…
Large language models (LLMs) are increasingly explored for their reasoning capabilities, yet their ability to perform structured, constraint-based optimization from natural language remains insufficiently understood. This study evaluates…
Vision-Language Models (VLM) can generate plausible high-level plans when prompted with a goal, the context, an image of the scene, and any planning constraints. However, there is no guarantee that the predicted actions are geometrically…
As Large Language Models (LLMs) can now process extremely long contexts, efficient inference over these extended inputs has become increasingly important, especially for emerging applications like LLM agents that highly depend on this…
We introduce HTLM, a hyper-text language model trained on a large-scale web crawl. Modeling hyper-text has a number of advantages: (1) it is easily gathered at scale, (2) it provides rich document-level and end-task-adjacent supervision…