相关论文: FlowPlan: Zero-Shot Task Planning with LLM Flow En…

Recent advances in hierarchical robot systems leverage a high-level planner to propose task plans and a low-level policy to generate robot actions. This design allows training the planner on action-free or even non-robot data sources (e.g.,…

LLM workflows, which coordinate structured calls to individual LLMs/agents to achieve a particular goal, offer a promising path towards building powerful AI systems that can tackle diverse tasks. However, existing approaches for building…

Traditional robot task planning methods face challenges when dealing with highly unstructured environments and complex tasks. We propose a task planning method that combines human expertise with an LLM and have designed an LLM prompt…

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…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the large volume of perceptual information, much of which is…

Guiding users through complex procedural plans is an inherently multimodal task in which having visually illustrated plan steps is crucial to deliver an effective plan guidance. However, existing works on plan-following language models…

Likelihood-based policy gradient methods are the dominant approach for training robot control policies from rewards. These methods rely on differentiable action likelihoods, which constrain policy outputs to simple distributions like…

We study instruction following in multi-task reinforcement learning, where an agent must zero-shot execute novel tasks not seen during training. In this setting, linear temporal logic (LTL) has recently been adopted as a powerful framework…

In this paper, we propose Skip-Plan, a condensed action space learning method for procedure planning in instructional videos. Current procedure planning methods all stick to the state-action pair prediction at every timestep and generate…

Few-shot imitation learning relies on only a small amount of task-specific demonstrations to efficiently adapt a policy for a given downstream tasks. Retrieval-based methods come with a promise of retrieving relevant past experiences to…

Breakthrough progress in vision-based navigation through unknown environments has been achieved by using multimodal large language models (MLLMs). These models can plan a sequence of motions by evaluating the current view at each time step…

Indoor navigation remains a critical challenge for people with visual impairments. The current solutions mainly rely on infrastructure-based systems, which limit their ability to navigate safely in dynamic environments. We propose a novel…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames.…

Recent Vision-Language-Action (VLA) models equipped with Flow Matching (FM) action heads achieve state-of-the-art performance in complex robot manipulation. However, the multi-step iterative ODE solving required by FM introduces inference…

Embodied instruction following (EIF) requires agents to understand and execute complex natural language commands within interactive 3D environments. Despite recent advances, existing methods often fail in long-horizon planning and handling…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Autonomous robots operating in open environments need the ability to continuously handle tasks that are not covered by predefined local methods. However, existing approaches often rely on repeated large-language-model (LLM) interaction for…

While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most…