Related papers: EmboTeam: Grounding LLM Reasoning into Reactive Be…
Embodied LLMs endow robots with high-level task reasoning, but they cannot reflect on what went wrong or why, turning deployment into a sequence of independent trials where mistakes repeat rather than accumulate into experience. Drawing…
Recent advances in large language models (LLMs) have enabled the automatic generation of executable code for task planning and control in embodied agents such as robots, demonstrating the potential of LLM-based embodied intelligence.…
While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…
Pre-trained large language models (LLMs) show promise for robotic task planning but often struggle to guarantee correctness in long-horizon problems. Task and motion planning (TAMP) addresses this by grounding symbolic plans in low-level…
Embodied agents operating in multi-agent, partially observable, and decentralized environments must plan and act despite pervasive uncertainty about hidden objects and collaborators' intentions. Recent advances in applying Large Language…
Embodied robotic systems increasingly rely on large language model (LLM)-based agents to support high-level reasoning, planning, and decision-making during interactions with the environment. However, invoking LLM reasoning introduces…
In recent years, Multi-modal Foundation Models (MFMs) and Embodied Artificial Intelligence (EAI) have been advancing side by side at an unprecedented pace. The integration of the two has garnered significant attention from the AI research…
We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…
This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end…
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…
Equipping embodied agents with commonsense is important for robots to successfully complete complex human instructions in general environments. Recent large language models (LLM) can embed rich semantic knowledge for agents in plan…
Collaboration is ubiquitous and essential in day-to-day life -- from exchanging ideas, to delegating tasks, to generating plans together. This work studies how LLMs can adaptively collaborate to perform complex embodied reasoning tasks. To…
Robotic planning and execution in open-world environments is a complex problem due to the vast state spaces and high variability of task embodiment. Recent advances in perception algorithms, combined with Large Language Models (LLMs) for…
We introduce SRDrone, a novel system designed for self-refinement task planning in industrial-grade embodied drones. SRDrone incorporates two key technical contributions: First, it employs a continuous state evaluation methodology to…
Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…
We explore leveraging large multi-modal models (LMMs) and text2image models to build a more general embodied agent. LMMs excel in planning long-horizon tasks over symbolic abstractions but struggle with grounding in the physical world,…
Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…
Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…
Embodied intelligence aims to enable robots to learn, reason, and generalize robustly across complex real-world environments. However, existing approaches often struggle with partial observability, fragmented spatial reasoning, and…
Large Language Models (LLMs) have significantly advanced tool-augmented agents, enabling autonomous reasoning via API interactions. However, executing multi-step tasks within massive tool libraries remains challenging due to two critical…