Related papers: Heterogeneous Robot Collaboration in Unstructured …

This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…

Large language models (LLMs) excel at processing and generating both text and code. However, LLMs have had limited applicability in grounded task-oriented dialogue as they are difficult to steer toward task objectives and fail to handle…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Fusing information from human observations can help robots overcome sensing limitations in collaborative tasks. However, an uncertainty-aware fusion framework requires a grounded likelihood representing the uncertainty of human inputs. This…

The socially-aware navigation system has evolved to adeptly avoid various obstacles while performing multiple tasks, such as point-to-point navigation, human-following, and -guiding. However, a prominent gap persists: in Human-Robot…

Collecting large amounts of real-world interaction data to train general robotic policies is often prohibitively expensive, thus motivating the use of simulation data. However, existing methods for data generation have generally focused on…

Recent breakthroughs in generative simulation have harnessed Large Language Models (LLMs) to generate diverse robotic task curricula, yet these open-loop paradigms frequently produce linguistically coherent but physically infeasible goals,…

Multi-robot systems are emerging as a promising solution to the growing demand for productivity, safety, and adaptability across industrial sectors. However, effectively coordinating multiple robots in dynamic and uncertain environments,…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

The ability to perform reliable long-horizon task planning is crucial for deploying robots in real-world environments. However, directly employing Large Language Models (LLMs) as action sequence generators often results in low success rates…

Large Language Models (LLMs) enable intelligent multi-robot collaboration but face fundamental trade-offs: open-loop methods that compile tasks into formal representations for external executors produce sound plans but lack adaptability in…

In recent years, robots and autonomous systems have become increasingly integral to our daily lives, offering solutions to complex problems across various domains. Their application in search and rescue (SAR) operations, however, presents…

A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…

One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for one task, which is expensive and prone to overfitting. This…

Recent advances in robot learning increasingly rely on LLM-based task planning, leveraging their ability to bridge natural language with executable actions. While prior works showcased great performances, the widespread adoption of these…

Recent works successfully leveraged Large Language Models' (LLM) abilities to capture abstract knowledge about world's physics to solve decision-making problems. Yet, the alignment between LLMs' knowledge and the environment can be wrong…

Large language models (LLMs) are increasingly deployed in teams, yet existing coordination approaches often occupy two extremes. Highly structured methods rely on fixed roles, pipelines, or task decompositions assigned a priori. In…

In recent times, the emergence of Large Language Models (LLMs) has resulted in increasingly larger model size, posing challenges for inference on low-resource devices. Prior approaches have explored offloading to facilitate low-memory…

Many multiagent systems in the real world include multiple types of agents with different abilities and functionality. Such heterogeneous multiagent systems have significant practical advantages. However, they also come with challenges…

This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through…