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Large language models (LLMs) have achieved remarkable success across various natural language processing (NLP) tasks. However, recent studies suggest that they still face challenges in performing fundamental NLP tasks essential for deep…

Instruction tuning (IT) achieves impressive zero-shot generalization results by training large language models (LLMs) on a massive amount of diverse tasks with instructions. However, how to select new tasks to improve the performance and…

Robots executing tasks following human instructions in domestic or industrial environments essentially require both adaptability and reliability. Behavior Tree (BT) emerges as an appropriate control architecture for these scenarios due to…

Enabling robotic agents to perform complex long-horizon tasks has been a long-standing goal in robotics and artificial intelligence (AI). Despite the potential shown by large language models (LLMs), their planning capabilities remain…

Incorporating external knowledge into the response generation process is essential to building more helpful and reliable dialog agents. However, collecting knowledge-grounded conversations is often costly, calling for a better pre-trained…

Task planning under uncertainty is essential for home-service robots operating in the real world. Tasks involve ambiguous human instructions, hidden or unknown object locations, and open-vocabulary object types, leading to significant…

Large language models (LLMs) have demonstrated remarkable capabilities across a range of text-generation tasks. However, LLMs still struggle with problems requiring multi-step decision-making and environmental feedback, such as online…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Markov decision processes. During the…

Recent advances in large language models (LLMs) have demonstrated their potential as planners in human-robot collaboration (HRC) scenarios, offering a promising alternative to traditional planning methods. LLMs, which can generate…

Large Language Models (LLMs) are increasingly being used as autonomous agents capable of performing complicated tasks. However, they lack the ability to perform reliable long-horizon planning on their own. This paper bridges this gap by…

Building end-to-end task bots and maintaining their integration with new functionalities using minimal human efforts is a long-standing challenge in dialog research. Recently large language models (LLMs) have demonstrated exceptional…

We propose a novel approach for decision making problems leveraging the generalization capabilities of large language models (LLMs). Traditional methods such as expert systems, planning algorithms, and reinforcement learning often exhibit…

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…

Autoregressive large language models (LLMs) pre-trained by next token prediction are inherently proficient in generative tasks. However, their performance on knowledge-driven tasks such as factual knowledge querying remains unsatisfactory.…

Robotic agents must master common sense and long-term sequential decisions to solve daily tasks through natural language instruction. The developments in Large Language Models (LLMs) in natural language processing have inspired efforts to…

Large language models (LLMs) are increasingly used to complete complex tasks by selecting and coordinating external tools across multiple steps. This requires aligning tool choices with subtask intent while satisfying directional execution…

This paper presents a novel approach in autonomous robot control, named LLM-BRAIn, that makes possible robot behavior generation, based on operator's commands. LLM-BRAIn is a transformer-based Large Language Model (LLM) fine-tuned from…

Tuning pre-trained language models (PLMs) with task-specific prompts has been a promising approach for text classification. Particularly, previous studies suggest that prompt-tuning has remarkable superiority in the low-data scenario over…

Language models (LMs) are bound to their tokenizer, which maps raw text to a sequence of vocabulary items (tokens). This restricts their flexibility: for example, LMs trained primarily on English may still perform well in other natural and…