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Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets,…

Large language models (LLMs) have the potential to revolutionize various fields, including code development, robotics, finance, and education, due to their extensive prior knowledge and rapid advancements. This paper investigates how LLMs…

While large language models (LLMs), such as GPT-3, appear to be robust and general, their reasoning ability is not at a level to compete with the best models trained for specific natural language reasoning problems. In this study, we…

Instruction-based Large Language Models (LLMs) have proven effective in numerous few-shot or zero-shot Natural Language Processing (NLP) tasks. However, creating human-annotated instruction data is time-consuming, expensive, and often…

Automated Short Answer Grading (ASAG) has been an active area of machine-learning research for over a decade. It promises to let educators grade and give feedback on free-form responses in large-enrollment courses in spite of limited…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

This study aims to explore the performance improvement method of large language models based on GPT-4 under the multi-task learning framework and conducts experiments on two tasks: text classification and automatic summary generation.…

Planning algorithms decompose complex problems into intermediate steps that can be sequentially executed by robots to complete tasks. Recent works have employed Large Language Models (LLMs) for task planning, using natural language to…

Large language models (LLMs) have recently demonstrated great success in generating and understanding natural language. While they have also shown potential beyond the domain of natural language, it remains an open question as to what…

Much worldly semantic knowledge can be encoded in large language models (LLMs). Such information could be of great use to robots that want to carry out high-level, temporally extended commands stated in natural language. However, the lack…

Machine learning and artificial intelligence have recently represented a popular paradigm for designing and optimizing robotic systems across various scales. Recent studies have showcased the innovative application of large language models…

The disruptive technology provided by large-scale pre-trained language models (LLMs) such as ChatGPT or GPT-4 has received significant attention in several application domains, often with an emphasis on high-level opportunities and…

Large Language Models (LLMs) have revolutionized the field of Natural Language Processing thanks to their ability to reuse knowledge acquired on massive text corpora on a wide variety of downstream tasks, with minimal (if any) tuning steps.…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

Rapid advancements in large language models (LLMs) have the potential to assist in scientific progress. A critical capability toward this endeavor is the ability to reproduce existing work. To evaluate the ability of AI agents to reproduce…

Large language models (LLMs), such as GPT-4, have shown remarkable performance in natural language processing (NLP) tasks, including challenging mathematical reasoning. However, most existing open-source models are only pre-trained on…

While recent advancements in commercial large language models (LM) have shown promising results in medical tasks, their closed-source nature poses significant privacy and security concerns, hindering their widespread use in the medical…

Mathematical reasoning is a cornerstone of artificial general intelligence and a primary benchmark for evaluating the capabilities of Large Language Models (LLMs). While state-of-the-art models show promise, they often falter when faced…

Due to their large size, generative Large Language Models (LLMs) require significant computing and storage resources. This paper introduces a new post-training quantization method, GPTQT, to reduce memory usage and enhance processing speed…

As language models accelerate scientific research by automating hypothesis generation and implementation, a new bottleneck emerges: evaluating and filtering hundreds of AI-generated ideas without exhaustive experimentation. We ask whether…