相关论文: LLaMAR: Long-Horizon Planning for Multi-Agent Robo…

Large language models (LLMs) have brought autonomous agents closer to artificial general intelligence (AGI) due to their promising generalization and emergent capabilities. There is, however, a lack of studies on how LLM-based agents…

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…

Although Multi-Agent Reinforcement Learning (MARL) is effective for complex multi-robot tasks, it suffers from low sample efficiency and requires iterative manual reward tuning. Large Language Models (LLMs) have shown promise in…

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…

We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of unknown space. Building on recent work in…

Large language models (LLMs) have shown remarkable advancements in enabling language agents to tackle simple tasks. However, applying them for complex, multi-step, long-horizon tasks remains a challenge. Recent work have found success by…

This work explores the capacity of large language models (LLMs) to address problems at the intersection of spatial planning and natural language interfaces for navigation. We focus on following complex instructions that are more akin to…

This study focuses on using large language models (LLMs) as a planner for embodied agents that can follow natural language instructions to complete complex tasks in a visually-perceived environment. The high data cost and poor sample…

Large Language Models (LLMs) trained using massive text datasets have recently shown promise in generating action plans for robotic agents from high level text queries. However, these models typically do not consider the robot's…

This study explores integrating large language models (LLMs) with situational awareness-based planning (SAP) to enhance the decision-making capabilities of AI agents in dynamic and uncertain environments. We employ a multi-agent reasoning…

Large language model (LLM) agents have demonstrated impressive capabilities in utilizing external tools and knowledge to boost accuracy and reduce hallucinations. However, developing prompting techniques that enable LLM agents to…

To achieve autonomy in a priori unknown real-world scenarios, agents should be able to: i) act from high-dimensional sensory observations (e.g., images), ii) learn from past experience to adapt and improve, and iii) be capable of long…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

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…

Large language model (LLM) agents have recently demonstrated strong capabilities in interactive decision-making, yet they remain fundamentally limited in long-horizon tasks that require structured planning and reliable execution. Existing…

Large Language Models (LLMs) possess extensive foundational knowledge and moderate reasoning abilities, making them suitable for general task planning in open-world scenarios. However, it is challenging to ground a LLM-generated plan to be…

By combining classical planning methods with large language models (LLMs), recent research such as LLM+P has enabled agents to plan for general tasks given in natural language. However, scaling these methods to general-purpose service…

Recent advancements in Large Language Models(LLMs) have led to the development of LLM-based AI agents. A key challenge is the creation of agents that can effectively ground themselves in complex, adversarial long-horizon environments.…

LA-RCS (LLM-agent-based robot control system) is a sophisticated robot control system designed to autonomously plan, work, and analyze the external environment based on user requirements by utilizing LLM-Agent. Utilizing a dual-agent…

As spacecraft journey further from Earth with more complex missions, systems of greater autonomy and onboard intelligence are called for. Reducing reliance on human-based mission control becomes increasingly critical if we are to increase…