Related papers: SafeGen-LLM: Enhancing Safety Generalization in Ta…

As the ubiquity and complexity of system-on-chip (SoC) designs increase across electronic devices, the task of incorporating security into an SoC design flow poses significant challenges. Existing security solutions are inadequate to…

Fine-tuning large language models (LLMs) on additional datasets is often necessary to optimize them for specific downstream tasks. However, existing safety alignment measures, which restrict harmful behavior during inference, are…

Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dynamics, and the high risk of damage during interaction. Recent advances in learning-based control have shown great potential in…

Large language models (LLMs) have emerged as powerful tools for addressing a wide range of general inquiries and tasks. Despite this, fine-tuning aligned LLMs on smaller, domain-specific datasets, critical to adapting them to specialized…

In embodied artificial intelligence, enabling heterogeneous robot teams to execute long-horizon tasks from high-level instructions remains a critical challenge. While large language models (LLMs) show promise in instruction parsing and…

Large Language Models (LLMs) have shown remarkable effectiveness in various general-domain natural language processing (NLP) tasks. However, their performance in transportation safety domain tasks has been suboptimal, primarily attributed…

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

Large Language Models (LLMs) represent an advanced evolution of earlier, simpler language models. They boast enhanced abilities to handle complex language patterns and generate coherent text, images, audios, and videos. Furthermore, they…

Robotic vision applications often necessitate a wide range of visual perception tasks, such as object detection, segmentation, and identification. While there have been substantial advances in these individual tasks, integrating specialized…

Fine-tuning large language models (LLMs) based on human preferences, commonly achieved through reinforcement learning from human feedback (RLHF), has been effective in improving their performance. However, maintaining LLM safety throughout…

Large Language Models (LLMs) are increasingly used for decision making in embodied agents, yet existing safety evaluations often rely on coarse success rates and domain-specific setups, making it difficult to diagnose why and where these…

Large Language Models (LLMs) can enhance their capabilities as AI assistants by integrating external tools, allowing them to access a wider range of information. While recent LLMs are typically fine-tuned with tool usage examples during…

The success of large language models (LLMs) in scientific domains has heightened safety concerns, prompting numerous benchmarks to evaluate their scientific safety. Existing benchmarks often suffer from limited risk coverage and a reliance…

Large Language Models (LLMs) are increasingly adopted in high-stakes scenarios, yet their safety mechanisms often remain fragile. Simple jailbreak prompts or even benign fine-tuning can bypass these protocols, underscoring the need to…

Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…

Large Language Models (LLMs) and Vision Language Models (VLMs) have become popular tools for embodied high-level planning. However, their deployment in black-box settings often leads to unpredictable or costly errors. To harness their…

With the rapid development of Large Language Models (LLMs), increasing attention has been paid to their safety concerns. Consequently, evaluating the safety of LLMs has become an essential task for facilitating the broad applications of…

Jailbreak attacks pose a serious threat to the safety of Large Language Models (LLMs) by crafting adversarial prompts that bypass alignment mechanisms, causing the models to produce harmful, restricted, or biased content. In this paper, we…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Robots need task planning methods to achieve goals that require more than individual actions. Recently, large language models (LLMs) have demonstrated impressive performance in task planning. LLMs can generate a step-by-step solution using…