相关论文: Towards Reliable LLM-based Robot Planning via Comb…

Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language models (LLMs) for task planning seeks to address the…

Large language models (LLMs) exhibit a wide range of promising capabilities -- from step-by-step planning to commonsense reasoning -- that may provide utility for robots, but remain prone to confidently hallucinated predictions. In this…

In-context learning has emerged as a groundbreaking ability of Large Language Models (LLMs) and revolutionized various fields by providing a few task-relevant demonstrations in the prompt. However, trustworthy issues with LLM's response,…

Reward models (RMs) are essential for aligning large language models (LLM) with human expectations. However, existing RMs struggle to capture the stochastic and uncertain nature of human preferences and fail to assess the reliability of…

Large Language Models (LLMs) excel in text generation, reasoning, and decision-making, enabling their adoption in high-stakes domains such as healthcare, law, and transportation. However, their reliability is a major concern, as they often…

Large language models (LLMs) often generate fluent but factually incorrect outputs, known as hallucinations, which undermine their reliability in real-world applications. While uncertainty estimation has emerged as a promising strategy for…

Large language models (LLMs) often behave inconsistently across inputs, indicating uncertainty and motivating the need for its quantification in high-stakes settings. Prior work on calibration and uncertainty quantification often focuses on…

Uncertainty quantification approaches have been more critical in large language models (LLMs), particularly high-risk applications requiring reliable outputs. However, traditional methods for uncertainty quantification, such as…

Recently, Large Language Models (LLMs) have witnessed remarkable performance as zero-shot task planners for robotic manipulation tasks. However, the open-loop nature of previous works makes LLM-based planning error-prone and fragile. On the…

Large Language Models (LLMs) show promise for natural language generation in healthcare, but risk hallucinating factually incorrect information. Deploying LLMs for medical question answering necessitates reliable uncertainty estimation (UE)…

Large language models (LLMs) exhibit strong generative capabilities but remain vulnerable to confabulations, fluent yet unreliable outputs that vary arbitrarily even under identical prompts. Leveraging a quantum tensor network based…

Uncertainty quantification in Large Language Models (LLMs) is crucial for applications where safety and reliability are important. In particular, uncertainty can be used to improve the trustworthiness of LLMs by detecting factually…

Task planning under uncertainty is essential for home-service robots operating in the real world. Tasks involve ambiguous human instructions, hidden or unknown object locations, and open-vocabulary object types, leading to significant…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

Despite their capabilities, Multimodal Large Language Models (MLLMs) may produce plausible but erroneous outputs, hindering reliable deployment. Accurate uncertainty metrics could enable escalation of unreliable queries to human experts or…

Large Language Models (LLMs) have achieved remarkable success across a wide range of natural language tasks, but often exhibit overconfidence and generate plausible yet incorrect answers. This overconfidence, especially in models undergone…

As instruction-tuned large language models (LLMs) evolve, aligning pretrained foundation models presents increasing challenges. Existing alignment strategies, which typically leverage diverse and high-quality data sources, often overlook…

Future self-adaptive robots are expected to operate in highly dynamic environments while effectively managing uncertainties. However, identifying the sources and impacts of uncertainties in such robotic systems and defining appropriate…

Large language models (LLMs) are prone to hallucinations, i.e., statements unsupported by the input or training data, hindering reliable deployment. In parallel, numerous uncertainty estimation (UE) methods have been proposed to quantify…

Large language models (LLMs) produce outputs with varying levels of uncertainty, and, just as often, varying levels of correctness; making their practical reliability far from guaranteed. To quantify this uncertainty, we systematically…