Related papers: Deploying Ten Thousand Robots: Scalable Imitation …

The rise of large language models (LLMs) has made natural language-driven route planning an emerging research area that encompasses rich user objectives. Current research exhibits two distinct approaches: direct route planning using…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Large Language Models (LLMs) based agents excel at diverse tasks, yet they suffer from brittle procedural memory that is manually engineered or entangled in static parameters. In this work, we investigate strategies to endow agents with a…

Multi-Agent Pickup and Delivery (MAPD) is a challenging extension of Multi-Agent Path Finding (MAPF), where agents are required to sequentially complete tasks with fixed-location pickup and delivery demands. Although learning-based methods…

MLLM agents demonstrate potential for complex embodied tasks by retrieving multimodal task-relevant trajectory data. However, current retrieval methods primarily focus on surface-level similarities of textual or visual cues in trajectories,…

Multi-Agent Reinforcement Learning (MARL) based Multi-Agent Path Finding (MAPF) has recently gained attention due to its efficiency and scalability. Several MARL-MAPF methods choose to use communication to enrich the information one agent…

We propose STEAM (Spatial, Temporal, and Emergent congestion Awareness for MAPF), a training-free test-time enhancement framework for learning-based decentralized Multi-Agent Path Finding (MAPF) in discrete environments. Given a pretrained…

In this letter, we consider the Multi-Robot Efficient Search Path Planning (MESPP) problem, where a team of robots is deployed in a graph-represented environment to capture a moving target within a given deadline. We prove this problem to…

Large Language Models (LLMs) are increasingly being deployed in agentic settings where they act as collaborators with humans. Therefore, it is increasingly important to be able to evaluate their abilities to collaborate effectively in…

Existing multi-agent path finding (MAPF) solvers do not account for uncertain behavior of uncontrollable agents. We present a novel variant of Enhanced Conflict-Based Search (ECBS), for both one-shot and lifelong MAPF in dynamic…

To improve the performance of large language models (LLMs), researchers have explored providing LLMs with textual task-solving experience via prompts. However, they rely on manual efforts to acquire and apply such experience for each task,…

Large Language Models (LLMs) are typically fine-tuned for reasoning tasks through a two-stage pipeline of Supervised Fine-Tuning (SFT) followed by Reinforcement Learning (RL), a process fraught with catastrophic forgetting and suboptimal…

Multi-agent reinforcement learning (MARL) is a powerful paradigm for solving cooperative and competitive decision-making problems. While many MARL benchmarks have been proposed, few combine continuous state and action spaces with…

We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach introduces finite-horizon hierarchical factorization, a…

Large language models have emerged as a promising approach towards achieving general-purpose AI agents. The thriving open-source LLM community has greatly accelerated the development of agents that support human-machine dialogue interaction…

We study the TAPF (combined target-assignment and path-finding) problem for teams of agents in known terrain, which generalizes both the anonymous and non-anonymous multi-agent path-finding problems. Each of the teams is given the same…

As Multimodal Large Language Models (MLLMs) mature, GUI agents are evolving from static interactions to complex navigation. While Reinforcement Learning (RL) has emerged as a promising paradigm for training MLLM agents on dynamic GUI tasks,…

Large language models (LLMs) have been widely adopted due to their remarkable performance across various applications, driving the accelerated development of a large number of diverse models. However, these individual LLMs show limitations…

Large Language Models (LLMs) impose massive computational demands, driving the need for scalable multi-chiplet accelerators. However, existing mapping space exploration efforts for such accelerators primarily focus on traditional…

It is crucial that robots' performance can be improved after deployment, as they are inherently likely to encounter novel scenarios never seen before. This paper presents an innovative solution: an interactive learning-based robot system…