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Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…

Long-context Large Language Models, despite their expanded capacity, require careful working memory management to mitigate attention dilution during long-horizon tasks. Yet existing approaches rely on external mechanisms that lack awareness…

Multimodal large language models (MLLMs) have shown remarkable capabilities in cross-modal understanding and reasoning, offering new opportunities for intelligent assistive systems, yet existing systems still struggle with risk-aware…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Leveraging the powerful reasoning capabilities of large language models (LLMs), recent LLM-based robot task planning methods yield promising results. However, they mainly focus on single or multiple homogeneous robots on simple tasks.…

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 study long-horizon planning in 3D environments from under-specified natural-language goals using only visual observations, focusing on multi-step 3D box rearrangement tasks. Existing approaches typically rely on symbolic planners with…

Robots are increasingly expected to execute open ended natural language requests in human environments, which demands reliable long horizon execution under partial observability. This is especially challenging for humanoids because…

The integration of large language models (LLMs) with embodied agents has improved high-level reasoning capabilities; however, a critical gap remains between semantic understanding and physical execution. While vision-language-action (VLA)…

Large Language Model (LLM)-based agents have achieved notable success on short-horizon and highly structured tasks. However, their ability to maintain coherent decision-making over long horizons in realistic and dynamic environments remains…

Embodied robotic AI systems designed to manage complex daily tasks rely on a task planner to understand and decompose high-level tasks. While most research focuses on enhancing the task-understanding abilities of LLMs/VLMs through…

Research demonstrates that the proactivity of in-vehicle conversational assistants (IVCAs) can help to reduce distractions and enhance driving safety, better meeting users' cognitive needs. However, existing IVCAs struggle with user intent…

Reinforcement learning (RL), large language models (LLMs), and vision-language models (VLMs) have been widely studied in isolation. However, existing infrastructure lacks the ability to deploy agents from different decision-making paradigms…

Visual Language Models (VLMs), with powerful multimodal reasoning capabilities, are gradually integrated into autonomous driving by several automobile manufacturers to enhance planning capability in challenging environments. However, the…

Memory is critical for long-horizon and history-dependent robotic manipulation. Such tasks often involve counting repeated actions or manipulating objects that become temporarily occluded. Recent vision-language-action (VLA) models have…

Large Language Models (LLMs) have recently empowered agentic frameworks to exhibit advanced reasoning and planning capabilities. However, their integration in robotic control pipelines remains limited in two aspects: (1) prior…

This paper presents a novel framework, called PLANTOR (PLanning with Natural language for Task-Oriented Robots), that integrates Large Language Models (LLMs) with Prolog-based knowledge management and planning for multi-robot tasks. The…

Although Multi-Agent Reinforcement Learning (MARL) is effective for complex multi-robot tasks, it suffers from low sample efficiency and requires iterative manual reward tuning. Large Language Models (LLMs) have shown promise in…

Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…

Vision-Language Models (VLM) can generate plausible high-level plans when prompted with a goal, the context, an image of the scene, and any planning constraints. However, there is no guarantee that the predicted actions are geometrically…