Related papers: FLEET: Formal Language-Grounded Scheduling for Het…

Transformer-based pre-trained language models (PLMs) mostly suffer from excessive overhead despite their advanced capacity. For resource-constrained devices, there is an urgent need for a spatially and temporally efficient model which…

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

Large language models (LLMs) are increasingly explored for their reasoning capabilities, yet their ability to perform structured, constraint-based optimization from natural language remains insufficiently understood. This study evaluates…

Large language model (LLM) applications are increasingly executed as heterogeneous multi-stage workflows rather than isolated inference calls. In these workflow directed acyclic graphs (DAGs), scheduling decisions affect not only the…

We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…

Remarkable progress has been made on automated problem solving through societies of agents based on large language models (LLMs). Existing LLM-based multi-agent systems can already solve simple dialogue tasks. Solutions to more complex…

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…

Cooperative mission planning for heterogeneous teams of mobile robots presents a unique set of challenges, particularly when operating under communication constraints and limited computational resources. To address these challenges, we…

Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…

Foundation models have become central to unifying perception and planning in robotics, yet real-world deployment exposes a mismatch between their monolithic assumption that a single model can handle all cognitive functions and the…

Background: Federated Learning (FL) has emerged as a promising paradigm for training machine learning models while preserving data privacy. However, applying FL to Natural Language Processing (NLP) tasks presents unique challenges due to…

As a promising distributed machine learning paradigm, Federated Learning (FL) enables all the involved devices to train a global model collaboratively without exposing their local data privacy. However, for non-IID scenarios, the…

This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must plan and execute concatenated sequences of actions on a…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

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…

In this paper, we consider teams of robots with heterogeneous skills (e.g., sensing and manipulation) tasked with collaborative missions described by Linear Temporal Logic (LTL) formulas. These LTL-encoded tasks require robots to apply…

As large language models (LLMs) continue to scale and new GPUs are released even more frequently, there is an increasing demand for LLM post-training in heterogeneous environments to fully leverage underutilized mid-range or…

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…

Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…

When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…