相关论文: Dolphin: a task orchestration language for autonom…
The quest for fully autonomous vehicles (AVs) capable of navigating complex real-world scenarios with human-like understanding and responsiveness. In this paper, we introduce Dolphins, a novel vision-language model architected to imbibe…
In the trending research of fusing Large Language Models (LLMs) and robotics, we aim to pave the way for innovative development of AI systems that can enable Autonomous Underwater Vehicles (AUVs) to seamlessly interact with humans in an…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…
Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…
Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…
Testing autonomous vehicles (AVs) requires complex oracles to determine if the AVs behavior conforms with specifications and humans' expectations. Available open source oracles are tightly embedded in the AV simulation software and are…
Research in dolphin communication and cognition requires detailed inspection of audible dolphin signals. The manual analysis of these signals is cumbersome and time-consuming. We seek to automate parts of the analysis using modern deep…
Vision-language navigation (VLN) requires intelligent agents to navigate environments by interpreting linguistic instructions alongside visual observations, serving as a cornerstone task in Embodied AI. Current VLN research for unmanned…
Neurosymbolic learning enables the integration of symbolic reasoning with deep learning but faces significant challenges in scaling to complex symbolic programs, large datasets, or both. We introduce DOLPHIN, a framework that tackles these…
Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…
Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…
Vision-and-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) represents a pivotal challenge in embodied artificial intelligence, focused on enabling UAVs to interpret high-level human commands and execute long-horizon tasks in…
A core challenge in AI-guided autonomy is enabling agents to navigate realistically and effectively in previously unseen environments based on natural language commands. We propose UAV-VLN, a novel end-to-end Vision-Language Navigation…
As autonomous robotic systems become increasingly mature, users will want to specify missions at the level of intent rather than in low-level detail. Language is an expressive and intuitive medium for such mission specification. However,…
Aerial Vision-and-Language Navigation (VLN) aims to enable unmanned aerial vehicles (UAVs) to interpret natural language instructions and navigate complex urban environments using onboard visual observation. This task holds promise for…
Novel reactive moving object applications require solutions to support object reactive behaviors as a way to query and update dynamic data. While moving object scenarios have long been researched in the context of spatio-temporal data…
Autonomous vehicles bring the promise of enhancing the consumer experience in terms of comfort and convenience and, in particular, the safety of the autonomous vehicle. Safety functions in autonomous vehicles such as Automatic Emergency…
We present Dolphin, a novel benchmark that addresses the need for a natural language generation (NLG) evaluation framework dedicated to the wide collection of Arabic languages and varieties. The proposed benchmark encompasses a broad range…
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…