Related papers: CARTIER: Cartographic lAnguage Reasoning Targeted …

Indoor navigation presents unique challenges due to complex layouts and the unavailability of GNSS signals. Existing solutions often struggle with contextual adaptation, and typically require dedicated hardware. In this work, we explore the…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

Much worldly semantic knowledge can be encoded in large language models (LLMs). Such information could be of great use to robots that want to carry out high-level, temporally extended commands stated in natural language. However, the lack…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

The ability of Language Models (LMs) to understand natural language makes them a powerful tool for parsing human instructions into task plans for autonomous robots. Unlike traditional planning methods that rely on domain-specific knowledge…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

The impressive capabilities of Large Language Models (LLMs) have led to various efforts to enable robots to be controlled through natural language instructions, opening exciting possibilities for human-robot interaction The goal is for the…

In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

We have a vision of a day when autonomous robots can collaborate with humans as assistants in performing complex tasks in the physical world. This vision includes that the robots will have the ability to communicate with their human…

Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…

Coordinating multi-robot systems (MRS) to search in unknown environments is particularly challenging for tasks that require semantic reasoning beyond geometric exploration. Classical coordination strategies rely on frontier coverage or…

Large Language Models (LLM) and Vision Language Models (VLM) enable robots to ground natural language prompts into control actions to achieve tasks in an open world. However, when applied to a long-horizon collaborative task, this…

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…

Navigating robots through unstructured terrains is challenging, primarily due to the dynamic environmental changes. While humans adeptly navigate such terrains by using context from their observations, creating a similar context-aware…