相关论文: LLM-Based Agentic Exploration for Robot Navigation…

In order to flexibly act in an everyday environment, a robotic agent needs a variety of cognitive capabilities that enable it to reason about plans and perform execution recovery. Large language models (LLMs) have been shown to demonstrate…

Foundation models, including large language models (LLMs) and vision-language models (VLMs), have recently enabled novel approaches to robot autonomy and human-robot interfaces. In parallel, vision-language-action models (VLAs) or large…

Large language models (LLMs) have been successfully adapted for interactive decision-making tasks like web navigation. While achieving decent performance, previous methods implicitly assume a forward-only execution mode for the model, where…

This paper advances motion agents empowered by large language models (LLMs) toward autonomous navigation in dynamic and cluttered environments, significantly surpassing first and recent seminal but limited studies on LLM's spatial…

We present an embodied robotic system with an LLM-driven agent-orchestration architecture for autonomous household object management. The system integrates memory-augmented task planning, enabling robots to execute high-level user commands…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

The ability to autonomously explore and navigate a physical space is a fundamental requirement for virtually any mobile autonomous agent, from household robotic vacuums to autonomous vehicles. Traditional SLAM-based approaches for…

Embodied agents operating in household environments must interpret ambiguous and under-specified human instructions. A capable household robot should recognize ambiguity and ask relevant clarification questions to infer the user intent…

The evolution of Large Language Models (LLMs) from passive text generators to autonomous, goal-driven systems represents a fundamental shift in artificial intelligence. This chapter examines the emergence of agentic AI systems that…

Programming robot behavior in a complex world faces challenges on multiple levels, from dextrous low-level skills to high-level planning and reasoning. Recent pre-trained Large Language Models (LLMs) have shown remarkable reasoning ability…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

Given a map description through global traversal navigation instructions (e.g., visiting each room sequentially with action signals such as north, west, etc.), an LLM can often infer the implicit spatial layout of the environment and answer…

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…

Rapidly evolving cyberattacks demand incident response systems that can autonomously learn and adapt to changing threats. Prior work has extensively explored the reinforcement learning approach, which involves learning response strategies…

Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as home environments and warehouses, clutter…

Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…

The socially-aware navigation system has evolved to adeptly avoid various obstacles while performing multiple tasks, such as point-to-point navigation, human-following, and -guiding. However, a prominent gap persists: in Human-Robot…

Robots are increasingly expected to execute open ended natural language requests in human environments, which demands reliable long horizon execution under partial observability. This is especially challenging for humanoids because…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…