Related papers: DAG-Plan: Generating Directed Acyclic Dependency G…
Soft robot arms have made significant progress towards completing human-scale tasks, but designing arms for tasks with specific load and workspace requirements remains difficult. A key challenge is the lack of model-based design tools,…
Learning a faithful directed acyclic graph (DAG) from samples of a joint distribution is a challenging combinatorial problem, owing to the intractable search space superexponential in the number of graph nodes. A recent breakthrough…
Recent works have shown great potentials of Large Language Models (LLMs) in robot task and motion planning (TAMP). Current LLM approaches generate text- or code-based reasoning chains with sub-goals and action plans. However, they do not…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
Autonomous driving systems, critical for safety, require real-time guarantees and can be modeled as DAGs. Their acceleration features, such as caches and pipelining, often result in execution times below the worst-case. Thus, a…
Large Language Models (LLMs) offer significant promise for intelligent traffic management; however, current chain-based systems like TrafficGPT are hindered by sequential task execution, high token usage, and poor scalability, making them…
Classical planning formulations like the Planning Domain Definition Language (PDDL) admit action sequences guaranteed to achieve a goal state given an initial state if any are possible. However, reasoning problems defined in PDDL do not…
Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based…
Recent advances in large language models (LLMs) have enabled agents to autonomously execute complex, long-horizon tasks, yet planning remains a primary bottleneck for reliable task execution. Existing methods typically fall into two…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
The emergence of Large Language Models (LLMs) like ChatGPT has inspired the development of LLM-based agents capable of addressing complex, real-world tasks. However, these agents often struggle during task execution due to methodological…
Efficient path planning in robotics, particularly within large-scale, complex environments, remains a significant hurdle. While Large Language Models (LLMs) offer strong reasoning capabilities, their high computational cost and limited…
The last decade has witnessed growth in the computational requirements for training deep neural networks. Current approaches (e.g., data/model parallelism, pipeline parallelism) parallelize training tasks onto multiple devices. However,…
We present a task-and-motion planning (TAMP) algorithm robust against a human operator's cooperative or adversarial interventions. Interventions often invalidate the current plan and require replanning on the fly. Replanning can be…
In 1969, Graham developed a well-known response time bound for a DAG task using the total workload and the longest path of the DAG, which has been widely applied to solve many scheduling and analysis problems of DAG-based task systems. This…
Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…
In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…
Learning the structure of causal directed acyclic graphs (DAGs) is useful in many areas of machine learning and artificial intelligence, with wide applications. However, in the high-dimensional setting, it is challenging to obtain good…
Directed acyclic graphs (DAGs) are commonly used to model causal relationships among random variables. In general, learning the DAG structure is both computationally and statistically challenging. Moreover, without additional information,…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…