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Despite the superb performance in many tasks, large language models (LLMs) bear the risk of generating hallucination or even wrong answers when confronted with tasks that demand the accuracy of knowledge. The issue becomes even more…

Building models that can understand and reason about 3D scenes is difficult owing to the lack of data sources for 3D supervised training and large-scale training regimes. In this work we ask - How can the knowledge in a pre-trained language…

Robots are increasingly being used in dynamic environments like workplaces, hospitals, and homes. As a result, interactions with robots must be simple and intuitive, with robots perception adapting efficiently to human-induced changes. This…

Large language models (LLMs) have demonstrated impressive results in developing generalist planning agents for diverse tasks. However, grounding these plans in expansive, multi-floor, and multi-room environments presents a significant…

The remarkable reasoning and generalization capabilities of Large Language Models (LLMs) have paved the way for their expanding applications in embodied AI, robotics, and other real-world tasks. To effectively support these applications,…

Intelligent systems powered by large-scale sensor networks are shifting from predefined monitoring to intent-driven operation, revealing a critical Semantic-to-Physical Mapping Gap. While large language models (LLMs) excel at semantic…

Chain-of-thought prompting significantly boosts the reasoning ability of large language models but still faces three issues: hallucination problem, restricted interpretability, and uncontrollable generation. To address these challenges, we…

Chain-of-Thought (CoT) prompting improves reasoning in large language models (LLMs), but its reliance on unstructured text limits interpretability and executability in embodied tasks. Prior work has explored structured CoTs using scene or…

Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…

Academic question answering (QA) in heterogeneous scholarly networks presents unique challenges requiring both structural understanding and interpretable reasoning. While graph neural networks (GNNs) capture structured graph information and…

Graph combinatorial optimization (GCO) problems are central to domains like logistics and bioinformatics. While traditional solvers dominate, large language models (LLMs) offer new possibilities for structured reasoning, yet struggle with…

Recent advances in Large Language Models (LLMs) have helped facilitate exciting progress for robotic planning in real, open-world environments. 3D scene graphs (3DSGs) offer a promising environment representation for grounding such…

While large language models (LLMs) have made considerable advancements in understanding and generating unstructured text, their application in structured data remains underexplored. Particularly, using LLMs for complex reasoning tasks on…

Chain-of-Thought (CoT) prompting along with sub-question generation and answering has enhanced multi-step reasoning capabilities of Large Language Models (LLMs). However, prompting the LLMs to directly generate sub-questions is suboptimal…

Recent advances in large language models (LLMs) have shown that Chain-of-Thought (CoT) reasoning can substantially improve performance on complex reasoning tasks. At the same time, In-Context Learning (ICL) has become an important mechanism…

Large language models (LLMs), while exhibiting exceptional performance, suffer from hallucinations, especially on knowledge-intensive tasks. Existing works propose to augment LLMs with individual text units retrieved from external knowledge…

Large Language Models (LLMs) excel at generating natural language answers, yet their outputs often remain unverifiable and difficult to trace. Knowledge Graphs (KGs) offer a complementary strength by representing entities and their…

Chain-of-thought (CoT) reasoning boosts large language models' (LLMs) performance on complex tasks but faces two key limitations: a lack of reliability when solely relying on LLM-generated reasoning chains and lower reasoning performance…

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…

Large language models (LLMs) have achieved remarkable success in text-based tasks but often struggle to provide actionable guidance in real-world physical environments. This is because of their inability to recognize their limited…