相关论文: LLM-Based Generalizable Hierarchical Task Planning…
Enabling a high-degree-of-freedom robot to learn specific skills is a challenging task due to the complexity of robotic dynamics. Reinforcement learning (RL) has emerged as a promising solution; however, addressing such problems requires…
Teleoperating high degrees-of-freedom (DoF) robotic manipulators via low-DoF controllers like joysticks often requires frequent switching between control modes, where each mode maps controller movements to specific robot actions. Manually…
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…
LLM-based multi-agent systems decompose complex tasks into interacting roles, but most remain manually orchestrated by prompts, tools, and control rules, while agents are rarely optimized through a unified reinforcement learning interface.…
Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity…
Cooperative mission planning for heterogeneous teams of mobile robots presents a unique set of challenges, particularly when operating under communication constraints and limited computational resources. To address these challenges, we…
Industrial manipulators have extensively collaborated with human operators to execute tasks, e.g., disassembly of end-of-use products, in intelligent remanufacturing. A safety task execution requires real-time path planning for the…
Modern business environments demand continuous reconfiguration of cross-functional processes, yet most enterprise systems remain organized around siloed departments, rigid workflows, and hard-coded automation. Meanwhile, large language…
We propose LEO-RobotAgent, a general-purpose language-driven intelligent agent framework for robots. Under this framework, LLMs can operate different types of robots to complete unpredictable complex tasks across various scenarios. This…
Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this challenge, we propose a novel, decentralized framework for…
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…
This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must plan and execute concatenated sequences of actions on a…
In order to fully exploit the advantages inherent to cooperating heterogeneous multi-robot teams, sophisticated coordination algorithms are essential. Time-extended multi-robot task allocation approaches assign and schedule a set of tasks…
Recent advancements in Large Language Models (LLMs) have sparked a revolution across many research fields. In robotics, the integration of common-sense knowledge from LLMs into task and motion planning has drastically advanced the field by…
Modern deployment of large language models (LLMs) frequently involves both inference serving and continuous retraining to stay aligned with evolving data and user feedback. Common practices separate these workloads onto distinct servers in…
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…
Recent advances in LLM have been instrumental in autonomous robot control and human-robot interaction by leveraging their vast general knowledge and capabilities to understand and reason across a wide range of tasks and scenarios. Previous…
Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…
Recently, multi-Large Language Model (LLM) frameworks have been proposed to solve contextualized tasks. However, these frameworks do not explicitly emulate human team role division, which may lead to a single perspective, thereby weakening…
Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assistance. This requires extensive exploitation of intrinsic…