相关论文: PALMER: Perception-Action Loop with Memory for Lon…

This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

A key challenge in transportation planning is that the collective preferences of heterogeneous travelers often diverge from the policies produced by model-driven decision tools. This misalignment frequently results in implementation delays…

Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…

Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states and transitions, which typically need to be designed by hand.…

Deep research agents (DRAs) integrate LLM reasoning with external tools. Memory systems enable DRAs to leverage historical experiences, which are essential for efficient reasoning and autonomous evolution. Existing methods rely on…

Real-world robotic manipulation tasks remain an elusive challenge, since they involve both fine-grained environment interaction, as well as the ability to plan for long-horizon goals. Although deep reinforcement learning (RL) methods have…

Autonomous mapping of unknown environments is a critical challenge, particularly in scenarios where time is limited. Multi-agent systems can enhance efficiency through collaboration, but the scalability of motion-planning algorithms remains…

Embodied robotic AI systems designed to manage complex daily tasks rely on a task planner to understand and decompose high-level tasks. While most research focuses on enhancing the task-understanding abilities of LLMs/VLMs through…

Model predictive control (MPC) with learned world models has emerged as a promising paradigm for embodied control, particularly for its ability to generalize zero-shot when deployed in new environments. However, learned world models often…

This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…

Human intelligence involves metacognitive abilities like self-regulation, recognizing limitations, and seeking assistance only when needed. While LLM Agents excel in many domains, they often lack this awareness. Overconfident agents risk…

Conventional reinforcement learning (RL) allows an agent to learn policies via environmental rewards only, with a long and slow learning curve, especially at the beginning stage. On the contrary, human learning is usually much faster…

While server-side Large Language Models (LLMs) demonstrate proficiency in function calling and complex reasoning, deploying Small Language Models (SLMs) directly on devices brings opportunities to improve latency and privacy but also…

Most of the works on planning and learning, e.g., planning by (model based) reinforcement learning, are based on two main assumptions: (i) the set of states of the planning domain is fixed; (ii) the mapping between the observations from the…

Large language models (LLMs) have recently received significant attention for their exceptional capabilities. Despite extensive efforts in developing general-purpose LLMs that can be utilized in various natural language processing (NLP)…

Despite significant advancements in large language models (LLMs), the rapid and frequent integration of small-scale experiences, such as interactions with surrounding objects, remains a substantial challenge. Two critical factors in…

Large Language Models (LLMs) based agents have demonstrated remarkable potential in autonomous task-solving across complex, open-ended environments. A promising approach for improving the reasoning capabilities of LLM agents is to better…

In domains requiring intelligent agents to emulate plausible human-like behaviour, such as formative simulations, traditional techniques like behaviour trees encounter significant challenges. Large Language Models (LLMs), despite not always…

Before taking actions in an environment with more than one intelligent agent, an autonomous agent may benefit from reasoning about the other agents and utilizing a notion of a guarantee or confidence about the behavior of the system. In…