相关论文: FLEET: Formal Language-Grounded Scheduling for Het…

Heterogeneous multirobot systems show great potential in complex tasks requiring coordinated hybrid cooperation. However, existing methods that rely on static or task-specific models often lack generalizability across diverse tasks and…

Robotic agents must master common sense and long-term sequential decisions to solve daily tasks through natural language instruction. The developments in Large Language Models (LLMs) in natural language processing have inspired efforts to…

The development of large language models (LLM) has shown progress on reasoning, though studies have largely considered either English or simple reasoning tasks. To address this, we introduce a multilingual structured reasoning and…

Effective human-robot collaboration requires robot to adopt their roles and levels of support based on human needs, task requirements, and complexity. Traditional human-robot teaming often relies on a pre-determined robot communication…

This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…

Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…

As a promising paradigm federated Learning (FL) is widely used in privacy-preserving machine learning, which allows distributed devices to collaboratively train a model while avoiding data transmission among clients. Despite its immense…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

Significant advancements have been made by Large Language Models (LLMs) in the domains of natural language understanding and automated content creation. However, they still face persistent problems, including substantial computational costs…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Language Model pre-training uses broad data mixtures to enhance performance across domains and languages. However, training on such heterogeneous text corpora requires extensive and expensive efforts. Since these data sources vary…

Split Learning (SL) is a promising collaborative machine learning approach, enabling resource-constrained devices to train models without sharing raw data, while reducing computational load and preserving privacy simultaneously. However,…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…

Recent advances in large language models (LLMs) have demonstrated their potential as planners in human-robot collaboration (HRC) scenarios, offering a promising alternative to traditional planning methods. LLMs, which can generate…

Federated Learning (FL) is a recent model training paradigm in which client devices collaboratively train a model without ever aggregating their data. Crucially, this scheme offers users potential privacy and security benefits by only ever…

This work considers the path planning problem for a team of identical robots evolving in a known environment. The robots should satisfy a global specification given as a Linear Temporal Logic (LTL) formula over a set of regions of interest.…

We propose a multi-robot control paradigm to solve point-to-point navigation tasks for a team of holonomic robots with access to the full environment information. The framework invokes two processes asynchronously at high frequency: (i) a…

Federated Learning (FL) of Large Language Models (LLMs) in multilingual environments presents significant challenges stemming from heterogeneous language distributions across clients and disparities in language resource availability. To…

Federated learning (FL) enables collaboratively training a model while keeping the training data decentralized and private. However, one significant impediment to training a model using FL, especially large models, is the resource…