相关论文: Prompting Robot Teams with Natural Language

Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…

Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…

Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected…

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…

Intelligent robots are redefining a multitude of critical domains but are still far from being fully capable of assisting human peers in day-to-day tasks. An important requirement of collaboration is for each teammate to maintain and…

We present a framework that, given a set of skills a robot can perform, abstracts sensor data into symbols that we use to automatically encode the robot's capabilities in Linear Temporal Logic. We specify reactive high-level tasks based on…

Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…

Large language models (LLMs) have shown remarkable success across a wide range of natural language generation tasks, where proper prompt designs make great impacts. While existing prompting methods are normally restricted to providing…

Large Language Models (LLMs) trained with reinforcement learning and verifiable rewards have achieved strong results on complex reasoning tasks. Recent work extends this paradigm to a multi-agent setting, where a meta-thinking agent…

We study the problem of learning a range of vision-based manipulation tasks from a large offline dataset of robot interaction. In order to accomplish this, humans need easy and effective ways of specifying tasks to the robot. Goal images…

Multi-robot coordination has traditionally relied on a mission-specific and expert-driven pipeline, where natural language mission descriptions are manually translated by domain experts into mathematical formulation, algorithm design, and…

The purpose of this paper is to use reinforcement learning to model learning agents which can recognize formal languages. Agents are modeled as simple multi-head automaton, a new model of finite automaton that uses multiple heads, and six…

Humans have a rich representation of the entities in their environment. Entities are described by their attributes, and entities that share attributes are often semantically related. For example, if two books have "Natural Language…

For a robot to be called socially intelligent, it must be able to infer users internal states from their current behaviour, predict the users future behaviour, and if required, respond appropriately. In this work, we investigate how robots…

The increasing level of autonomy of robots poses challenges of trust and social acceptance, especially in human-robot interaction scenarios. This requires an interpretable implementation of robotic cognitive capabilities, possibly based on…

Multi-agent robotic systems are increasingly operating in real-world environments in close proximity to humans, yet are largely controlled by policy models with inscrutable deep neural network representations. We introduce a method for…

Much literature has shown that prompt-based learning is an efficient method to make use of the large pre-trained language model. Recent works also exhibit the possibility of steering a chatbot's output by plugging in an appropriate prompt.…

We propose a method, based on empirical game theory, for a robot operating as part of a team to choose its role within the team without explicitly communicating with team members, by leveraging its knowledge about the team structure. To do…

Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…

Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated decision-making in a unified framework.…