相关论文: Anticipate & Collab: Data-driven Task Anticipation…

Industries such as finance, meteorology, and energy generate vast amounts of data daily. Efficiently managing, processing, and displaying this data requires specialized expertise and is often tedious and repetitive. Leveraging large…

With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…

We present a benchmark for Planning And Reasoning Tasks in humaN-Robot collaboration (PARTNR) designed to study human-robot coordination in household activities. PARTNR tasks exhibit characteristics of everyday tasks, such as spatial,…

A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…

The rise of multi-agent systems powered by large language models (LLMs) and specialized reasoning agents exposes fundamental limitations in today's data management architectures. Traditional databases and data fabrics were designed for…

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…

We aim to reduce the burden of programming and deploying autonomous systems to work in concert with people in time-critical domains, such as military field operations and disaster response. Deployment plans for these operations are…

In this work, we present a new planning formalism called Expectation-Aware planning for decision making with humans in the loop where the human's expectations about an agent may differ from the agent's own model. We show how this…

The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

The ability to anticipate possible future human actions is essential for a wide range of applications, including autonomous driving and human-robot interaction. Consequently, numerous methods have been introduced for action anticipation in…

Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…

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…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Large Language Models (LLMs) have opened transformative possibilities for human-robot collaboration. However, enabling real-time collaboration requires both low latency and robust reasoning, and most LLMs suffer from high latency. To…

This paper presents a novel framework, called PLANTOR (PLanning with Natural language for Task-Oriented Robots), that integrates Large Language Models (LLMs) with Prolog-based knowledge management and planning for multi-robot tasks. The…

Multi-robot task planning requires decomposing natural-language instructions into executable actions for heterogeneous robot teams. Conventional Planning Domain Definition Language (PDDL) planners provide rigorous guarantees but struggle to…

Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and Motion Planning (TAMP) systems are automated and excel at solving long-horizon…

Language model (LM)-based agents have demonstrated promising capabilities in automating complex tasks from natural language instructions, yet they continue to struggle with long-horizon planning and reasoning. To address this, we propose an…

Recent endeavors towards directly using large language models (LLMs) as agent models to execute interactive planning tasks have shown commendable results. Despite their achievements, however, they still struggle with brainless…