LA-RCS (LLM-agent-based robot control system) is a sophisticated robot control system designed to autonomously plan, work, and analyze the external environment based on user requirements by utilizing LLM-Agent. Utilizing a dual-agent framework, LA-RCS generates plans based on user requests, observes the external environment, executes the plans, and modifies the plans as needed to adapt to changes in the external conditions. Additionally, LA-RCS interprets natural language commands by the user and converts them into commands compatible with the robot interface so that the robot can execute tasks and meet user requests properly. During his process, the system autonomously evaluates observation results, provides feedback on the tasks, and executes commands based on real-time environmental monitoring, significantly reducing the need for user intervention in fulfilling requests. We categorized the scenarios that LA-RCS needs to perform into four distinct types and conducted a quantitative assessment of its performance in each scenario. The results showed an average success rate of 90 percent, demonstrating the system capability to fulfill user requests satisfactorily. For more extensive results, readers can visit our project page: https://la-rcs.github.io

Large language models often struggle with zero-shot generalization, and several modular approaches have been proposed to address this challenge. Yet, we hypothesize that a key limitation remains: the entanglement of general knowledge and task-specific adaptations. To overcome this, we propose a modular framework that disentangles these components by constructing a library of task-specific LoRA modules alongside a general-domain LoRA. By subtracting this general knowledge component from each task-specific module, we obtain residual modules that focus more exclusively on task-relevant information, a method we call general knowledge subtraction (GenKnowSub). Leveraging the refined task-specific modules and the Arrow routing algorithm \citep{ostapenko2024towards}, we dynamically select and combine modules for new inputs without additional training. Our studies on the Phi-3 model and standard Arrow as baselines reveal that using general knowledge LoRAs derived from diverse languages, including English, French, and German, yields consistent performance gains in both monolingual and cross-lingual settings across a wide set of benchmarks. Further experiments on Phi-2 demonstrate how GenKnowSub generalizes to weaker LLMs. The complete code and data are available at https://github.com/saharsamr/Modular-LLM.

Clustering patient subgroups is essential for personalized care and efficient resource use. Traditional clustering methods struggle with high-dimensional, heterogeneous healthcare data and lack contextual understanding. This study evaluates Large Language Model (LLM) based clustering against classical methods using a pediatric sepsis dataset from a low-income country (LIC), containing 2,686 records with 28 numerical and 119 categorical variables. Patient records were serialized into text with and without a clustering objective. Embeddings were generated using quantized LLAMA 3.1 8B, DeepSeek-R1-Distill-Llama-8B with low-rank adaptation(LoRA), and Stella-En-400M-V5 models. K-means clustering was applied to these embeddings. Classical comparisons included K-Medoids clustering on UMAP and FAMD-reduced mixed data. Silhouette scores and statistical tests evaluated cluster quality and distinctiveness. Stella-En-400M-V5 achieved the highest Silhouette Score (0.86). LLAMA 3.1 8B with the clustering objective performed better with higher number of clusters, identifying subgroups with distinct nutritional, clinical, and socioeconomic profiles. LLM-based methods outperformed classical techniques by capturing richer context and prioritizing key features. These results highlight potential of LLMs for contextual phenotyping and informed decision-making in resource-limited settings.

By combining classical planning methods with large language models (LLMs), recent research such as LLM+P has enabled agents to plan for general tasks given in natural language. However, scaling these methods to general-purpose service robots remains challenging: (1) classical planning algorithms generally require a detailed and consistent specification of the environment, which is not always readily available; and (2) existing frameworks mainly focus on isolated planning tasks, whereas robots are often meant to serve in long-term continuous deployments, and therefore must maintain a dynamic memory of the environment which can be updated with multi-modal inputs and extracted as planning knowledge for future tasks. To address these two issues, this paper introduces L3M+P (Lifelong LLM+P), a framework that uses an external knowledge graph as a representation of the world state. The graph can be updated from multiple sources of information, including sensory input and natural language interactions with humans. L3M+P enforces rules for the expected format of the absolute world state graph to maintain consistency between graph updates. At planning time, given a natural language description of a task, L3M+P retrieves context from the knowledge graph and generates a problem definition for classical planners. Evaluated on household robot simulators and on a real-world service robot, L3M+P achieves significant improvement over baseline methods both on accurately registering natural language state changes and on correctly generating plans, thanks to the knowledge graph retrieval and verification.

Current large language models (LLMs) excel at general NLP tasks but often lack domain specific precision in professional settings. Building a high quality domain specific multi turn dialogue dataset is essential for developing specialized conversational systems. However, existing methods such as manual annotation, simulated human LLM interactions, and role based LLM dialogues are resource intensive or suffer from limitations in dialogue quality and domain coverage. To address these challenges, we introduce ProKG Dial, a progressive framework for constructing knowledge intensive multi turn dialogue datasets using domain specific knowledge graphs (KGs). ProKG Dial leverages the structured nature of KGs to encode complex domain knowledge and relationships, providing a solid foundation for generating meaningful and coherent dialogues. Specifically, ProKG Dial begins by applying community detection to partition the KG into semantically cohesive subgraphs. For each subgraph, the framework incrementally generates a series of questions and answers centered around a target entity, ensuring relevance and coverage. A rigorous filtering step is employed to maintain high dialogue quality. We validate ProKG Dial on a medical knowledge graph by evaluating the generated dialogues in terms of diversity, semantic coherence, and entity coverage. Furthermore, we fine tune a base LLM on the resulting dataset and benchmark it against several baselines. Both automatic metrics and human evaluations demonstrate that ProKG Dial substantially improves dialogue quality and domain specific performance, highlighting its effectiveness and practical utility.

Large Language Models have demonstrated remarkable capabilities across diverse tasks, yet they frequently generate hallucinations outputs that are fluent but factually incorrect or unsupported. We propose Counterfactual Probing, a novel approach for detecting and mitigating hallucinations in LLM outputs. Our method dynamically generates counterfactual statements that appear plausible but contain subtle factual errors, then evaluates the model's sensitivity to these perturbations. We hypothesize that genuine knowledge exhibits robustness to counterfactual variations, while hallucinated content shows inconsistent confidence patterns when confronted with plausible alternatives. Our comprehensive evaluation on TruthfulQA, factual statement datasets, and curated hallucination examples demonstrates that counterfactual probing achieves superior detection performance compared to baseline methods, while our adaptive mitigation strategies reduce hallucination scores by an average of 24.5%. The approach requires no model retraining and can be integrated into existing LLM pipelines as a realtime verification mechanism.

Current benchmarks for Hebrew Natural Language Processing (NLP) focus mainly on morpho-syntactic tasks, neglecting the semantic dimension of language understanding. To bridge this gap, we set out to deliver a Hebrew Machine Reading Comprehension (MRC) dataset, where MRC is to be realized as extractive Question Answering. The morphologically rich nature of Hebrew poses a challenge to this endeavor: the indeterminacy and non-transparency of span boundaries in morphologically complex forms lead to annotation inconsistencies, disagreements, and flaws in standard evaluation metrics. To remedy this, we devise a novel set of guidelines, a controlled crowdsourcing protocol, and revised evaluation metrics that are suitable for the morphologically rich nature of the language. Our resulting benchmark, HeQ (Hebrew QA), features 30,147 diverse question-answer pairs derived from both Hebrew Wikipedia articles and Israeli tech news. Our empirical investigation reveals that standard evaluation metrics such as F1 scores and Exact Match (EM) are not appropriate for Hebrew (and other MRLs), and we propose a relevant enhancement. In addition, our experiments show low correlation between models' performance on morpho-syntactic tasks and on MRC, which suggests that models designed for the former might underperform on semantics-heavy tasks. The development and exploration of HeQ illustrate some of the challenges MRLs pose in natural language understanding (NLU), fostering progression towards more and better NLU models for Hebrew and other MRLs.

With the rapid development of Model Context Protocol (MCP), the number of MCP servers has surpassed 10,000. However, existing MCP benchmarks are limited to single-server settings with only a few tools, hindering effective evaluation of agent capabilities in large-scale, real-world scenarios. To address this limitation, we present LiveMCPBench, the first comprehensive benchmark comprising 95 real-world tasks grounded in the MCP ecosystem, designed to evaluate LLM agents at scale across diverse servers. To support a scalable and reproducible evaluation pipeline in large-scale MCP environments, we curate LiveMCPT ool, a diverse and readily deployable collection of 70 MCP servers and 527 tools. Furthermore, we introduce LiveMCPEval, an LLM-as-a-Judge framework that enables automated and adaptive evaluation in dynamic, time-varying task environments, achieving 81% agreement with human reviewers. Finally, we propose the MCP Copilot Agent, a multi-step agent that routes tools for dynamic planning and executes tools for API interaction across the entire LiveMCPTool suite. Our evaluation covers 10 leading models, with the best-performing model (Claude-Sonnet-4) reaching a 78.95% success rate. However, we observe large performance variance across models, and several widely-used models perform poorly in LiveMCPBench's complex, tool-rich environments. Overall, LiveMCPBench offers the first unified framework for benchmarking LLM agents in realistic, tool-rich, and dynamic MCP environments, laying a solid foundation for scalable and reproducible research on agent capabilities.

Grounding natural language instructions to visual observations is fundamental for embodied agents operating in open-world environments. Recent advances in visual-language mapping have enabled generalizable semantic representations by leveraging vision-language models (VLMs). However, these methods often fall short in aligning free-form language commands with specific scene instances, due to limitations in both instance-level semantic consistency and instruction interpretation. We present OpenMap, a zero-shot open-vocabulary visual-language map designed for accurate instruction grounding in navigation tasks. To address semantic inconsistencies across views, we introduce a Structural-Semantic Consensus constraint that jointly considers global geometric structure and vision-language similarity to guide robust 3D instance-level aggregation. To improve instruction interpretation, we propose an LLM-assisted Instruction-to-Instance Grounding module that enables fine-grained instance selection by incorporating spatial context and expressive target descriptions. We evaluate OpenMap on ScanNet200 and Matterport3D, covering both semantic mapping and instruction-to-target retrieval tasks. Experimental results show that OpenMap outperforms state-of-the-art baselines in zero-shot settings, demonstrating the effectiveness of our method in bridging free-form language and 3D perception for embodied navigation.

Large language models (LLMs) have advanced natural language processing (NLP) skills such as through next-token prediction and self-attention, but their ability to integrate broad context also makes them prone to incorporating irrelevant information. Prior work has focused on semantic leakage--bias introduced by semantically irrelevant context. In this paper, we introduce expression leakage, a novel phenomenon where LLMs systematically generate sentimentally charged expressions that are semantically unrelated to the input context. To analyse the expression leakage, we collect a benchmark dataset along with a scheme to automatically generate a dataset from free-form text from common-crawl. In addition, we propose an automatic evaluation pipeline that correlates well with human judgment, which accelerates the benchmarking by decoupling from the need of annotation for each analysed model. Our experiments show that, as the model scales in the parameter space, the expression leakage reduces within the same LLM family. On the other hand, we demonstrate that expression leakage mitigation requires specific care during the model building process, and cannot be mitigated by prompting. In addition, our experiments indicate that, when negative sentiment is injected in the prompt, it disrupts the generation process more than the positive sentiment, causing a higher expression leakage rate.