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

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,…

Complex, non-linear tasks challenge LLM-enhanced multi-agent systems (MAS) due to partial observability and suboptimal coordination. We propose Orchestrator, a novel MAS framework that leverages attention-inspired self-emergent coordination…

With the rapid advancement of artificial intelligence, there is an increasing demand for intelligent robots capable of assisting humans in daily tasks and performing complex operations. Such robots not only require task planning…

Recent large language models (LLMs) have demonstrated remarkable performance on a variety of natural language processing (NLP) tasks, leading to intense excitement about their applicability across various domains. Unfortunately, recent work…

Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…

This paper introduces CoMuRoS (Collaborative Multi-Robot System), a generalizable hierarchical architecture for heterogeneous robot teams that unifies centralized deliberation with decentralized execution, and supports event-driven…

Modern Large Language Models (LLMs) exhibit impressive zero-shot and few-shot generalization capabilities across complex natural language tasks, enabling their widespread use as virtual assistants for diverse applications such as…

Since the advent of Large Language Models (LLMs), various research based on such models have maintained significant academic attention and impact, especially in AI and robotics. In this paper, we propose a multi-agent framework with LLMs to…

The language generation and reasoning capabilities of large language models (LLMs) have enabled conversational systems with impressive performance in a variety of tasks, from code generation, to composing essays, to passing STEM and legal…

In the era of (multi-modal) large language models, most operational processes can be reformulated and reproduced using LLM agents. The LLM agents can perceive, control, and get feedback from the environment so as to accomplish the given…

In the realm of data-driven AI technology, the application of open-source large language models (LLMs) in robotic task planning represents a significant milestone. Recent robotic task planning methods based on open-source LLMs typically…

Large language model (LLM)-based agents have demonstrated remarkable capabilities in decision-making tasks, but struggle significantly with complex, long-horizon planning scenarios. This arises from their lack of macroscopic guidance,…

Planning represents a fundamental capability of intelligent agents, requiring comprehensive environmental understanding, rigorous logical reasoning, and effective sequential decision-making. While Large Language Models (LLMs) have…

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…

Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…

With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments. To deliver these services…

This paper introduces LLM-MARL, a unified framework that incorporates large language models (LLMs) into multi-agent reinforcement learning (MARL) to enhance coordination, communication, and generalization in simulated game environments. The…

Open world language conditioned task planning is crucial for robots operating in large-scale household environments. While many recent works attempt to address this problem using Large Language Models (LLMs) via prompting or training, a key…

Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Markov decision processes. During the…

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…