相关论文: Decompose, Plan in Parallel, and Merge: A Novel Pa…

Large Language Models (LLMs) enable intelligent multi-robot collaboration but face fundamental trade-offs: open-loop methods that compile tasks into formal representations for external executors produce sound plans but lack adaptability in…

Multi-agent planning (MAP) approaches have been typically conceived for independent or loosely-coupled problems to enhance the benefits of distributed planning between autonomous agents as solving this type of problems require less…

Planning is a fundamental task in artificial intelligence that involves finding a sequence of actions that achieve a specified goal in a given environment. Large language models (LLMs) are increasingly used for applications that require…

Lazy search algorithms have been developed to efficiently solve planning problems in domains where the computational effort is dominated by the cost of edge evaluation. The existing algorithms operate by intelligently balancing…

It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understanding context-dependent commands. This study addresses the…

Parallel programs in high performance computing (HPC) continue to grow in complexity and scale in the exascale era. The diversity in hardware and parallel programming models make developing, optimizing, and maintaining parallel software…

In this paper, we introduce a generic and fresh model for distributed planning called "Distributed Planning Through Graph Merging" ({\sf DPGM}). This model unifies the different steps of the distributed planning process into a single step.…

Recent methods have demonstrated that Large Language Models (LLMs) can solve reasoning tasks better when they are encouraged to solve subtasks of the main task first. In this paper we devise a similar strategy that breaks down reasoning…

Large language models (LLMs) have shown remarkable capabilities in language understanding and generation. However, such impressive capability typically comes with a substantial model size, which presents significant challenges in deployment…

We present a novel approach to solving the floorplanning problem by leveraging fine-tuned Large Language Models (LLMs). Inspired by subitizing--the human ability to instantly and accurately count small numbers of items at a glance--we…

System performance for networks composed of interconnected subsystems can be increased if the traditionally separated subsystems are jointly optimized. Recently, parallel and distributed optimization methods have emerged as a powerful tool…

Large Language Models (LLMs) require instruction fine-tuning to perform different downstream tasks. However, the instruction fine-tuning phase still demands significant computational resources and labeled data, lacking a paradigm that can…

The emergence of Large Language Models (LLMs) in Multi-Agent Systems (MAS) has opened new possibilities for artificial intelligence, yet current implementations face significant challenges in resource management, task coordination, and…

Using large language models (LLMs) to solve complex robotics problems requires understanding their planning capabilities. Yet while we know that LLMs can plan on some problems, the extent to which these planning capabilities cover the space…

We present Branch-Train-Merge (BTM), a communication-efficient algorithm for embarrassingly parallel training of large language models (LLMs). We show it is possible to independently train subparts of a new class of LLMs on different…

Diffusion-based large language models (dLLMs) have shown promising performance across various reasoning tasks, establishing themselves as an alternative to autoregressive large language models (LLMs). Unlike autoregressive LLMs that…

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…

A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques,…

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,…

Participatory urban planning is the mainstream of modern urban planning and involves the active engagement of different stakeholders. However, the traditional participatory paradigm encounters challenges in time and manpower, while the…