相关论文: Compositional Coordination for Multi-Robot Teams w…

Large language models (LLMs) trained on code completion have been shown to be capable of synthesizing simple Python programs from docstrings [1]. We find that these code-writing LLMs can be re-purposed to write robot policy code, given…

Multi-agent systems built on large language models (LLMs) are difficult to reason about. Coordination errors such as deadlocks or type-mismatched messages are often hard to detect through testing. We introduce a domain-specific language for…

Multi-robot systems can be extremely efficient for accomplishing team-wise tasks by acting concurrently and collaboratively. However, most existing methods either assume static task features or simply replan when environmental changes…

Human-robot collaboration (HRC) in structured assembly requires reliable state estimation and adaptive task planning under noisy perception and human interventions. To address these challenges, we introduce a design-grounded human-aware…

Collaboration is ubiquitous and essential in day-to-day life -- from exchanging ideas, to delegating tasks, to generating plans together. This work studies how LLMs can adaptively collaborate to perform complex embodied reasoning tasks. To…

Code generation aims to synthesize code and fulfill functional requirements based on natural language (NL) specifications, which can greatly improve development efficiency. In the era of large language models (LLMs), large code models…

Multi-Agent Reinforcement Learning (MARL) provides a powerful framework for learning coordination in multi-agent systems. However, applying MARL to robotics still remains challenging due to high-dimensional continuous joint action spaces,…

With increasing demand for mass customization, traditional manufacturing robots that rely on rule-based operations lack the flexibility to accommodate customized or new product variants. Human-Robot Collaboration has demonstrated potential…

This work presents a deep reinforcement learning framework for interactive navigation in a crowded place. Our proposed approach, Learning to Balance (L2B) framework enables mobile robot agents to steer safely towards their destinations by…

Large language models (LLMs) have emerged as powerful tools for many AI problems and exhibit remarkable in-context learning (ICL) capabilities. Compositional ability, solving unseen complex tasks that combine two or more simple tasks, is an…

To enable robots to instruct humans in collaborations, we identify several aspects of language processing that are not commonly studied in this context. These include location, planning, and generation. We suggest evaluations for each task,…

Foundation models have made significant strides in various applications, including text-to-image generation, panoptic segmentation, and natural language processing. This paper presents Instruct2Act, a framework that utilizes Large Language…

Large Language Models (LLMs) are compact representations of all public knowledge of our physical environment and animal and human behaviors. The application of LLMs to robotics may offer a path to highly capable robots that perform well…

Aiming at the problems of computational inefficiency and insufficient interpretability faced by large models in complex tasks such as multi-round reasoning and multi-modal collaboration, this study proposes a three-layer collaboration…

Recent works have shown great potentials of Large Language Models (LLMs) in robot task and motion planning (TAMP). Current LLM approaches generate text- or code-based reasoning chains with sub-goals and action plans. However, they do not…

Large language models (LLMs) are transforming society, powering applications from smartphone assistants to autonomous driving. Yet cloud-based LLM services alone cannot serve a growing class of applications, including those operating under…

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…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and…

Humans have an impressive ability to solve complex coordination problems in a fully distributed manner. This ability, if learned as a set of distributed multirobot coordination strategies, can enable programming large groups of robots to…