Related papers: Affordances Enable Partial World Modeling with LLM…
Recent advancements in the reasoning skills of Large Language Models (LLMs) demonstrate an increase in the ability of LLMs to solve simple planning tasks. However, as long as the driving force behind improved reasoning capability is the…
State-of-the-art supervised NLP models achieve high accuracy but are also susceptible to failures on inputs from low-data regimes, such as domains that are not represented in training data. As an approximation to collecting ground-truth…
Lexical semantics and cognitive science point to affordances (i.e. the actions that objects support) as critical for understanding and representing nouns and verbs. However, study of these semantic features has not yet been integrated with…
Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…
Exploration and goal-directed navigation in unknown layouts are central to inspection, logistics, and search-and-rescue. We ask whether large language models (LLMs) can function as \emph{text-only} controllers under partial observability --…
Large Language Models (LLMs) can serve as world models to enhance agent decision-making in digital environments by simulating future states and predicting action outcomes, potentially eliminating costly trial-and-error exploration. However,…
Millions of users turn to AI models for their information needs. It is conceivable that a large number of user queries contain assumptions that may be factually inaccurate. Prior work notes that large language models (LLMs) often fail to…
Affordance information about a scene provides important clues as to what actions may be executed in pursuit of meeting a specified goal state. Thus, integrating affordance-based reasoning into symbolic action plannning pipelines would…
Constructing a diverse repertoire of manipulation skills in a scalable fashion remains an unsolved challenge in robotics. One way to address this challenge is with unstructured human play, where humans operate freely in an environment to…
Large Language Models (LLMs) possess general world knowledge but often struggle to generate precise predictions in structured, domain-specific contexts such as simulations. These limitations arise from their inability to ground their broad,…
Large language models (LLMs) have shown remarkable reasoning capabilities, especially when prompted to generate intermediate reasoning steps (e.g., Chain-of-Thought, CoT). However, LLMs can still struggle with problems that are easy for…
Large Language Model(LLM) inference demands massive compute and energy, making domain-specific tasks expensive and unsustainable. As foundation models keep scaling, we ask: Is bigger always better for hardware design? Our work tests this by…
We evaluate the ability of the current generation of large language models (LLMs) to help a decision-making agent facing an exploration-exploitation tradeoff. While previous work has largely study the ability of LLMs to solve combined…
A burgeoning area within reinforcement learning (RL) is the design of sequential decision-making agents centered around large language models (LLMs). While autonomous decision-making agents powered by modern LLMs could facilitate numerous…
Large Language Models (LLMs) are increasingly expected to handle complex decision-making tasks, yet their ability to perform structured resource allocation remains underexplored. Evaluating their reasoning is also difficult due to data…
Large language models (LLMs) excel in most NLP tasks but also require expensive cloud servers for deployment due to their size, while smaller models that can be deployed on lower cost (e.g., edge) devices, tend to lag behind in terms of…
To be capable of lifelong learning in a real-life environment, robots have to tackle multiple challenges. Being able to relate physical properties they may observe in their environment to possible interactions they may have is one of them.…
Large language models (LLMs) are useful in many NLP tasks and become more capable with size, with the best open-source models having over 50 billion parameters. However, using these 50B+ models requires high-end hardware, making them…
Affordances, a foundational concept in human-computer interaction and design, have traditionally been explained by direct-perception theories, which assume that individuals perceive action possibilities directly from the environment.…
Learning models of the environment from pure interaction is often considered an essential component of building lifelong reinforcement learning agents. However, the common practice in model-based reinforcement learning is to learn models…