相关论文: Triple-S: A Collaborative Multi-LLM Framework for …

Real-time multi-robot coordination in hazardous and adversarial environments requires fast, reliable adaptation to dynamic threats. While Large Language Models (LLMs) offer strong high-level reasoning capabilities, the lack of safety…

The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…

Recent advancements in Large Language Models (LLMs) have demonstrated substantial capabilities in enhancing communication and coordination in multi-robot systems. However, existing methods often struggle to achieve efficient collaboration…

This work addresses the problem of long-horizon task planning with the Large Language Model (LLM) in an open-world household environment. Existing works fail to explicitly track key objects and attributes, leading to erroneous decisions in…

Current reinforcement learning algorithms struggle in sparse and complex environments, most notably in long-horizon manipulation tasks entailing a plethora of different sequences. In this work, we propose the Intrinsically Guided…

Despite the remarkable code generation abilities of large language models LLMs, they still face challenges in complex task handling. Robot development, a highly intricate field, inherently demands human involvement in task allocation and…

Large language models (LLMs) have shown promise as interactive agents that solve tasks through extended sequences of environment interactions. While prior work has primarily focused on system-level optimizations or algorithmic improvements,…

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…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

Anticipating and adapting to failures is a key capability robots need to collaborate effectively with humans in complex domains. This continues to be a challenge despite the impressive performance of state of the art AI planning systems and…

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…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…

Planning algorithms decompose complex problems into intermediate steps that can be sequentially executed by robots to complete tasks. Recent works have employed Large Language Models (LLMs) for task planning, using natural language to…

Embodied long-horizon manipulation requires robotic systems to process multimodal inputs-such as vision and natural language-and translate them into executable actions. However, existing learning-based approaches often depend on large,…

Leveraging the powerful reasoning capabilities of large language models (LLMs), recent LLM-based robot task planning methods yield promising results. However, they mainly focus on single or multiple homogeneous robots on simple tasks.…

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…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

The integration of Large Language Models (LLMs) into robotics has revolutionized human-robot interactions and autonomous task planning. However, these systems are often unable to self-correct during the task execution, which hinders their…

This paper addresses task planning problems for language-instructed robot teams. Tasks are expressed in natural language (NL), requiring the robots to apply their capabilities at various locations and semantic objects. Several recent works…