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Planning algorithms decompose complex problems into intermediate steps that can be sequentially executed by robots to complete tasks. Recent works have employed Large Language Models (LLMs) for task planning, using natural language to…

In modern industry, dynamic environments and the complexity of modular and reconfigurable resources require automated planning of process sequences. Capability-based planning approaches address this by automatically generating plans from…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…

The growing demand for intelligent logistics, particularly fine-grained terminal delivery, underscores the need for autonomous UAV (Unmanned Aerial Vehicle)-based delivery systems. However, most existing last-mile delivery studies rely on…

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,…

We present a novel high-level planning framework that leverages vision-language models (VLMs) to improve autonomous navigation in unknown indoor environments with many dead ends. Traditional exploration methods often take inefficient routes…

The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…

Aerial vision-and-language navigation (Aerial VLN) aims to enable unmanned aerial vehicles (UAVs) to interpret natural language instructions and autonomously navigate complex three-dimensional environments by grounding language in visual…

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…

Unmanned Surface Vehicle (USV) is a new type of intelligent surface craft, and global path planning is the key technology of USV research, which can reflect the intelligent level of USV. In order to solve the problem of global path planning…

While Large Language Models (LLMs) can solve many NLP tasks in zero-shot settings, applications involving embodied agents remain problematic. In particular, complex plans that require multi-step reasoning become difficult and too costly as…

Large Language Models (LLMs) and Large Multi-modality Models (LMMs) have demonstrated remarkable decision masking capabilities on a variety of tasks. However, they inherently operate planning within the language space, lacking the vision…

The manufacturing industry is undergoing a transformative shift, driven by cutting-edge technologies like 5G, AI, and cloud computing. Despite these advancements, effective system control, which is crucial for optimizing production…

Large language models (LLMs) have recently demonstrated remarkable capabilities across domains, tasks, and languages (e.g., ChatGPT and GPT-4), reviving the research of general autonomous agents with human-like cognitive abilities. Such…

Unmanned Aerial Vehicles (UAVs) are increasingly used in defense, surveillance, and disaster response, yet most systems still operate at SAE Level 2 to 3 autonomy. Their dependence on rule-based control and narrow AI limits adaptability in…

Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based…

Large-scale task planning is a major challenge. Recent work exploits large language models (LLMs) directly as a policy and shows surprisingly interesting results. This paper shows that LLMs provide a commonsense model of the world in…

The integration of Large Language Models (LLMs) like GPT-4o into robotic systems represents a significant advancement in embodied artificial intelligence. These models can process multi-modal prompts, enabling them to generate more…

Unmanned Surface Vehicles (USVs) have emerged as a major platform in maritime operations, capable of supporting a wide range of applications. USVs can help reduce labor costs, increase safety, save energy, and allow for difficult unmanned…

Large Language Models (LLMs) and Vision Language Models (VLMs) have become popular tools for embodied high-level planning. However, their deployment in black-box settings often leads to unpredictable or costly errors. To harness their…