相关论文: DELIVER: A System for LLM-Guided Coordinated Multi…

The deployment of artificial intelligence models at the edge is increasingly critical for autonomous robots operating in GPS-denied environments where local, resource-efficient reasoning is essential. This work demonstrates the feasibility…

We present a distributed algorithm that enables a group of robots to collaboratively optimize the parameters of a deep neural network model while communicating over a mesh network. Each robot only has access to its own data and maintains…

Large Language Models are increasingly used in robotics for task planning, but their reliance on textual inputs limits their adaptability to real-world changes and failures. To address these challenges, we propose LERa - Look, Explain,…

The integration of large language models (LLMs) with control systems has demonstrated significant potential in various settings, such as task completion with a robotic manipulator. A main reason for this success is the ability of LLMs to…

Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…

TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…

Controlling robots to perform tasks via natural language is one of the most challenging topics in human-robot interaction. In this work, we present a robot system that follows unconstrained language instructions to pick and place arbitrary…

Large language models (LLMs) encode a vast amount of semantic knowledge and possess remarkable understanding and reasoning capabilities. Previous work has explored how to ground LLMs in robotic tasks to generate feasible and executable…

This paper introduces LLM-MARS, first technology that utilizes a Large Language Model based Artificial Intelligence for Multi-Agent Robot Systems. LLM-MARS enables dynamic dialogues between humans and robots, allowing the latter to generate…

In decentralized multiagent trajectory planners, agents need to communicate and exchange their positions to generate collision-free trajectories. However, due to localization errors/uncertainties, trajectory deconfliction can fail even if…

A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…

We present a novel algorithm (DeepMNavigate) for global multi-agent navigation in dense scenarios using deep reinforcement learning (DRL). Our approach uses local and global information for each robot from motion information maps. We use a…

Large language models (LLMs) provide robots with powerful contextual reasoning abilities and a natural human interface. Yet, current LLM-enabled robots typically depend on cloud-hosted models, limiting their usability in environments with…

As human-robot collaboration advances, natural and flexible communication methods are essential for effective robot control. Traditional methods relying on a single modality or rigid rules struggle with noisy or misaligned data as well as…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

Robotic Mobile Fulfillment Systems (RMFS) rely on mobile robots for automated inventory transportation, coordinating order allocation and robot scheduling to enhance warehousing efficiency. However, optimizing RMFS is challenging due to…

The proliferation of Large Language Models (LLMs) has created a diverse ecosystem of models with highly varying performance and costs, necessitating effective query routing to balance performance and expense. Current routing systems often…

In recent years, various intelligent autonomous robots have begun to appear in daily life and production. Desktop-level robots are characterized by their flexible deployment, rapid response, and suitability for light workload environments.…

Autonomous landing is essential for drones deployed in emergency deliveries, post-disaster response, and other large-scale missions. By enabling self-docking on charging platforms, it facilitates continuous operation and significantly…

Long-horizon robotic manipulation requires plans that are both logically coherent and geometrically grounded. Existing Vision-Language-Action policies usually hide planning in latent states or expose only one modality: text-only…