In robot task planning, large language models (LLMs) have shown significant promise in generating complex and long-horizon action sequences. However, it is observed that LLMs often produce responses that sound plausible but are not accurate. To address these problems, existing methods typically employ predefined error sets or external knowledge sources, requiring human efforts and computation resources. Recently, self-correction approaches have emerged, where LLM generates and refines plans, identifying errors by itself. Despite their effectiveness, they are more prone to failures in correction due to insufficient reasoning. In this paper, we introduce InversePrompt, a novel self-corrective task planning approach that leverages inverse prompting to enhance interpretability. Our method incorporates reasoning steps to provide clear, interpretable feedback. It generates inverse actions corresponding to the initially generated actions and verifies whether these inverse actions can restore the system to its original state, explicitly validating the logical coherence of the generated plans. The results on benchmark datasets show an average 16.3% higher success rate over existing LLM-based task planning methods. Our approach offers clearer justifications for feedback in real-world environments, resulting in more successful task completion than existing self-correction approaches across various scenarios.

Abstract Previous work in prompt engineering for large language models has introduced different gradient-free probability-based prompt selection methods that aim to choose the optimal prompt among the candidates for a given task but have failed to provide a comprehensive and fair comparison between each other. In this paper, we propose a unified framework to interpret and evaluate the existing probability-based prompt selection methods by performing extensive experiments on 13 common and diverse NLP tasks. We find that each of the existing methods can be interpreted as some variant of the method that maximizes mutual information between the input and the predicted output (MI). Utilizing this finding, we develop several other combinatorial variants of MI and increase the effectiveness of the oracle prompt selection method from 87.79% to 94.98%, measured as the ratio of the performance of the selected prompt to that of the optimal oracle prompt. Furthermore, considering that all the methods rely on the output probability distribution of the model that might be biased, we propose a novel calibration method called Calibration by Marginalization (CBM) that is orthogonal to the existing methods and helps increase the prompt selection effectiveness of the best method to 96.85%, achieving 99.44% of the oracle prompt F1 without calibration.1

Safety of taking medicine prescribed differently to each patient in hospital relies on the discernment of medical professionals who deals with measuring pill quantity, packaging, and distributing. It is difficult and time consuming to keep track of medication record of each patient. Also, medication safety is prone to be in risk due to the human error. To help patients get accurate medication following their prescription plan with minimizing human labors and mistakes, we developed PillGood, an automated smart pill dispenser system using facial recognition technique. PillGood provides real-time and personalized guidance to take the correct medicine by alarming patients and distributing exact quantity of pills at specific time following each patient's prescription table. The system notify patients through mobile app and speaker when they need to take the medicine, and detect who the patient is through the machine learning based face recognition. Then, based on each patient's prescribing information, the controller distributes pills to each patient. Results show that PillGood enable highly accurate personalized pill dispensation followed by precise face recognition, benefiting both patients and medical professionals. Videos for demonstrating the system can be found on https://youtu.be/Wx7bXxRGjXA

This paper proposes a flexible encoding technique based on multi-stage multiple scale lattice vector quantization and block-constrained trellis coded vector quantization. It is used for the spectrum encoding, more precisely encoding of the LSF parameters, and incorporated in the recently standardized 3GPP EVS codec. The proposed method can handle multiple bit allocations and signal types with low complexity and low memory requirements.