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In embodied artificial intelligence, enabling heterogeneous robot teams to execute long-horizon tasks from high-level instructions remains a critical challenge. While large language models (LLMs) show promise in instruction parsing and…

Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…

Large language models (LLMs) have been routinely used to solve various tasks using step-by-step reasoning. However, the structure of intermediate reasoning steps, or thoughts, is rigid and unidirectional, such as chains, trees, or…

This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the…

Automatic Program Repair (APR) is a core technology in software development and maintenance, with aims to enable automated defect repair with minimal human intervention. In recent years, the substantial advancements in Large Language Models…

This paper addresses a motion planning problem to achieve spatio-temporal-logical tasks, expressed by syntactically co-safe linear temporal logic specifications (scLTL\next), in uncertain environments. Here, the uncertainty is modeled as…

Intelligent systems powered by large-scale sensor networks are shifting from predefined monitoring to intent-driven operation, revealing a critical Semantic-to-Physical Mapping Gap. While large language models (LLMs) excel at semantic…

Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…

Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…

Automated planning using a symbolic planning language, such as PDDL, is a general approach to producing optimal plans to achieve a stated goal. However, creating suitable machine understandable descriptions of the planning domain, problem,…

Task-motion planning (TMP) addresses the problem of efficiently generating executable and low-cost task plans in a discrete space such that the (initially unknown) action costs are determined by motion plans in a corresponding continuous…

This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), the control objective is to synthesize a finite-memory policy,…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Large Language Models (LLMs) falter in multi-step interactions -- often hallucinating, repeating actions, or misinterpreting user corrections -- due to reliance on linear, unstructured context. This fragility stems from the lack of…

Motion planning in complex scenarios is the core challenge in autonomous driving. Conventional methods apply predefined rules or learn from driving data to plan the future trajectory. Recent methods seek the knowledge preserved in large…

This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals expressed as Linear Temporal Logic (LTL) formulas. In particular, we design…

Large Language Models (LLMs) have shown strong promise for robotic task planning, particularly through the automatic generation of symbolic planning domains. However, prior work mainly treats generated domains as planning utilities. Such…

Large Language Models (LLMs) such as GPT-4 and Llama3 can already comprehend complex commands and process diverse tasks. This advancement facilitates their application in controlling drones and robots for various tasks. However, existing…

Though recent advances in vision-language models (VLMs) have achieved remarkable progress across a wide range of multimodal tasks, understanding 3D spatial relationships from limited views remains a significant challenge. Previous reasoning…