Related papers: iCORPP: Interleaved Commonsense Reasoning and Prob…
The focus of this paper is on solving multi-robot planning problems in continuous spaces with partial observability. Decentralized partially observable Markov decision processes (Dec-POMDPs) are general models for multi-robot coordination…
Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…
Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…
Multimodal Large Language Models (MLLMs) have shown impressive reasoning abilities and general intelligence in various domains. It inspires researchers to train end-to-end MLLMs or utilize large models to generate policies with…
Intelligent robots are redefining a multitude of critical domains but are still far from being fully capable of assisting human peers in day-to-day tasks. An important requirement of collaboration is for each teammate to maintain and…
A limitation for collaborative robots (cobots) is their lack of ability to adapt to human partners, who typically exhibit an immense diversity of behaviors. We present an autonomous framework as a cobot's real-time decision-making mechanism…
This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…
We introduce Robix, a unified model that integrates robot reasoning, task planning, and natural language interaction within a single vision-language architecture. Acting as the high-level cognitive layer in a hierarchical robot system,…
Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient…
The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…
Generating explanation to explain its behavior is an essential capability for a robotic teammate. Explanations help human partners better understand the situation and maintain trust of their teammates. Prior work on robot generating…
The combined approach of the Qualitative Reasoning and Probabilistic Functions for the knowledge representation is proposed. The method aims at represent uncertain, qualitative knowledge that is essential for the moving blocks task's…
Decision-making for automated driving remains a challenging task. For their integration into real platforms, these algorithms must guarantee passenger safety and comfort while ensuring interpretability and an appropriate computational time.…
The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
Chain-of-Thought(CoT) prompting and its variants explore equipping large language models (LLMs) with high-level reasoning abilities by emulating human-like linear cognition and logic. However, the human mind is complicated and mixed with…
There is much interest in using partially observable Markov decision processes (POMDPs) as a formal model for planning in stochastic domains. This paper is concerned with finding optimal policies for POMDPs. We propose several improvements…
Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…
Recent years have seen human robot collaboration (HRC) quickly emerged as a hot research area at the intersection of control, robotics, and psychology. While most of the existing work in HRC focused on either low-level human-aware motion…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
Complex visual reasoning and question answering (VQA) is a challenging task that requires compositional multi-step processing and higher-level reasoning capabilities beyond the immediate recognition and localization of objects and events.…