Related papers: Active Neural Topological Mapping for Multi-Agent …
Collaboration requires agents to align their goals on the fly. Underlying the human ability to align goals with other agents is their ability to predict the intentions of others and actively update their own plans. We propose hierarchical…
A burgeoning area within reinforcement learning (RL) is the design of sequential decision-making agents centered around large language models (LLMs). While autonomous decision-making agents powered by modern LLMs could facilitate numerous…
The Multi-Agent Pickup and Delivery (MAPD) problem models applications where a large number of agents attend to a stream of incoming pickup-and-delivery tasks. Token Passing (TP) is a recent MAPD algorithm that is efficient and effective.…
Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…
Current interactive LLM agents rely on goal-conditioned stepwise planning, where environmental understanding is acquired reactively during execution rather than established beforehand. This temporal inversion leads to Delayed Environmental…
The ability to autonomously explore and navigate a physical space is a fundamental requirement for virtually any mobile autonomous agent, from household robotic vacuums to autonomous vehicles. Traditional SLAM-based approaches for…
Exploring sparse reward multi-agent reinforcement learning (MARL) environments with traps in a collaborative manner is a complex task. Agents typically fail to reach the goal state and fall into traps, which affects the overall performance…
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…
In this paper, we propose a new framework for multi-agent collaborative exploration of unknown environments. The proposed method combines state-of-the-art algorithms in mapping, safe corridor generation and multi-agent planning. It first…
Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…
Multi-agent pathfinding (MAPF) is a critical field in many large-scale robotic applications, often being the fundamental step in multi-agent systems. The increasing complexity of MAPF in complex and crowded environments, however, critically…
This paper addresses a variant of multi-agent path finding (MAPF) in continuous space and time. We present a new solving approach based on satisfiability modulo theories (SMT) to obtain makespan optimal solutions. The standard MAPF is a…
The widespread adoption of Large Language Models (LLMs) and LLM-powered agents in multi-user settings underscores the need for reliable, usable methods to accommodate diverse preferences and resolve conflicting directives. Drawing on…
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…
In recent years, Multi-Agent Path Finding (MAPF) has attracted attention from the fields of both Operations Research (OR) and Reinforcement Learning (RL). However, in the 2021 Flatland3 Challenge, a competition on MAPF, the best RL method…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
Machine Learning with Deep Neural Networks (DNNs) has become a successful tool in solving tasks across various fields of application. However, the complexity of DNNs makes it difficult to understand how they solve their learned task. To…
We present an approach for Task-Motion Planning (TMP) using Iterative Deepened AND/OR Graph Networks (TMP-IDAN) that uses an AND/OR graph network based novel abstraction for compactly representing the task-level states and actions. While…
The sim-to-real gap poses a significant challenge in RL-based multi-agent exploration due to scene quantization and action discretization. Existing platforms suffer from the inefficiency in sampling and the lack of diversity in Multi-Agent…
This paper investigates the multi-agent navigation problem, which requires multiple agents to reach the target goals in a limited time. Multi-agent reinforcement learning (MARL) has shown promising results for solving this issue. However,…