相关论文: Distilling On-device Language Models for Robot Pla…

Large language models (LLMs) significantly enhance the performance of various applications, but they are computationally intensive and energy-demanding. This makes it challenging to deploy them on devices with limited resources, such as…

Enabling robot teams to execute natural language commands requires translating high-level instructions into feasible, efficient multi-robot plans. While Large Language Models (LLMs) combined with Planning Domain Description Language (PDDL)…

Large Language Models (LLMs) have revolutionized many areas of artificial intelligence (AI), but their substantial resource requirements limit their deployment on mobile and edge devices. This survey paper provides a comprehensive overview…

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…

Large Language Models (LLMs) have recently made significant advances in code generation through the 'Chain-of-Thought' prompting technique. This technique empowers the model to autonomously devise "solution plans" to tackle intricate…

The transformative impact of large language models (LLMs) like LLaMA and GPT on natural language processing is countered by their prohibitive computational demands. Pruning has emerged as a pivotal compression strategy, introducing sparsity…

Robot end users increasingly require accessible means of specifying tasks for robots to perform. Two common end-user programming paradigms include drag-and-drop interfaces and natural language programming. Although natural language…

Traditional control interfaces for quadruped robots often impose a high barrier to entry, requiring specialized technical knowledge for effective operation. To address this, this paper presents a novel control framework that integrates…

Despite their strong performance, large language models (LLMs) face challenges in real-world application of lexical simplification (LS), particularly in privacy-sensitive and resource-constrained environments. Moreover, since vulnerable…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

While small language models (SLMs) show promises for mobile deployment, their real-world performance and applications on smartphones remains underexplored. We present SlimLM, a series of SLMs optimized for document assistance tasks on…

This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end…

Large Language Models (LLMs) have demonstrated remarkable performance across various natural language tasks, marking significant strides towards general artificial intelligence. While general artificial intelligence is leveraged by…

The breakthrough performance of large language models (LLMs) comes with major computational footprints and high deployment costs. In this paper, we progress towards resolving this problem by proposing a novel structured compression approach…

Motivated by the substantial achievements observed in Large Language Models (LLMs) in the field of natural language processing, recent research has commenced investigations into the application of LLMs for complex, long-horizon sequential…

We present OnPrem$.$LLM, a Python-based toolkit for applying large language models (LLMs) to sensitive, non-public data in offline or restricted environments. The system is designed for privacy-preserving use cases and provides prebuilt…

Large Language Models (LLMs) prompted to generate chain-of-thought (CoT) exhibit impressive reasoning capabilities. Recent attempts at prompt decomposition toward solving complex, multi-step reasoning problems depend on the ability of the…

Large Language Models (LLMs), constrained by their auto-regressive nature, suffer from slow decoding. Speculative decoding methods have emerged as a promising solution to accelerate LLM decoding, attracting attention from both systems and…

Inference-time compute has re-emerged as a practical way to improve LLM reasoning. Most test-time scaling (TTS) algorithms rely on autoregressive decoding, which is ill-suited to discrete diffusion language models (dLLMs) due to their…

Large language models (LLMs) have been a disruptive innovation in recent years, and they play a crucial role in our daily lives due to their ability to understand and generate human-like text. Their capabilities include natural language…