Related papers: Towards Zero-Knowledge Task Planning via a Languag…

Task planning systems have been developed to help robots use human knowledge (about actions) to complete long-horizon tasks. Most of them have been developed for "closed worlds" while assuming the robot is provided with complete world…

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 utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…

Large language models (LLMs) have shown limitations in tasks requiring complex logical reasoning and multi-step problem-solving. To address these challenges, researchers have employed carefully designed prompts and flowcharts, simulating…

Large Language Models (LLMs) have shown impressive zero-shot performance across a variety of Natural Language Processing tasks, including document re-ranking. However, their effectiveness degrades on unseen tasks and domains, largely due to…

Large language models (LLMs) achieve remarkable advancements by leveraging tools to interact with environments, a critical step toward generalized AI. However, the standard supervised fine-tuning (SFT) approach, which relies on large-scale…

Spoken language understanding (SLU) tasks involve diverse skills that probe the information extraction, classification and/or generation capabilities of models. In this setting, task-specific training data may not always be available. While…

The application of the Large Language Model (LLM) to robot action planning has been actively studied. The instructions given to the LLM by natural language may include ambiguity and lack of information depending on the task context. It is…

This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement learning (RL). Autonomous robots often need to satisfy spatial…

Retrained large language models (LLMs) have become extensively used across various sub-disciplines of natural language processing (NLP). In NLP, text classification problems have garnered considerable focus, but still faced with some…

Knowledge Graph Completion (KGC) is crucial for addressing knowledge graph incompleteness and supporting downstream applications. Many models have been proposed for KGC. They can be categorized into two main classes: triple-based and…

Large language models (LLMs) provide powerful means to leverage prior knowledge for predictive modeling when data is limited. In this work, we demonstrate how LLMs can use their compressed world knowledge to generate intrinsically…

Large Language Models (LLMs) have demonstrated remarkable human-level natural language generation capabilities. However, their potential to generate misinformation, often called the hallucination problem, poses a significant risk to their…

Pretrained language models (PLMs) trained on large-scale unlabeled corpus are typically fine-tuned on task-specific downstream datasets, which have produced state-of-the-art results on various NLP tasks. However, the data discrepancy issue…

Knowledge graphs play a vital role in numerous artificial intelligence tasks, yet they frequently face the issue of incompleteness. In this study, we explore utilizing Large Language Models (LLM) for knowledge graph completion. We consider…

Pre-trained language models (PLMs) like BERT have made significant progress in various downstream NLP tasks. However, by asking models to do cloze-style tests, recent work finds that PLMs are short in acquiring knowledge from unstructured…

Large and small language models have been widely used for robotic task planning. At the same time, vision-language models (VLMs) have successfully tackled problems such as image captioning, scene understanding, and visual question…

Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the large volume of perceptual information, much of which is…

The integration of large language models (LLMs) with control systems has demonstrated significant potential in various settings, such as task completion with a robotic manipulator. A main reason for this success is the ability of LLMs to…