相关论文: From Perception to Symbolic Task Planning: Vision-…

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…

Crop monitoring is essential for precision agriculture, but current systems lack high-level reasoning. We introduce a novel, modular framework that uses a Visual Language Model (VLM) to guide robotic task planning, interleaving input…

To enable non-experts to specify long-horizon, multi-robot collaborative tasks, language models are increasingly used to translate natural language commands into formal specifications. However, because translation can occur in multiple…

The integration of large language models (LLMs) with embodied agents has improved high-level reasoning capabilities; however, a critical gap remains between semantic understanding and physical execution. While vision-language-action (VLA)…

We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…

Automatically detecting and recovering from failures is an important but challenging problem for autonomous robots. Most of the recent work on learning to plan from demonstrations lacks the ability to detect and recover from errors in the…

Human-robot collaboration (HRC) has emerged as a hot research area at the intersection of control, robotics, and psychology in recent years. It is of critical importance to obtain an expressive but meanwhile tractable model for human beings…

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…

Heterogeneous multi-robot systems (HMRS) have emerged as a powerful approach for tackling complex tasks that single robots cannot manage alone. Current large-language-model-based multi-agent systems (LLM-based MAS) have shown success in…

This paper addresses task planning problems for language-instructed robot teams. Tasks are expressed in natural language (NL), requiring the robots to apply their capabilities at various locations and semantic objects. Several recent works…

Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…

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…

Existing pipelines for vision-language models (VLMs) in robotic manipulation prioritize broad semantic generalization from images and language, but typically omit execution-critical parameters required for contact-rich actions in…

Manufacturing planners face complex operational challenges that require seamless collaboration between human expertise and intelligent systems to achieve optimal performance in modern production environments. Traditional approaches to…

This paper presents a novel framework, called PLANTOR (PLanning with Natural language for Task-Oriented Robots), that integrates Large Language Models (LLMs) with Prolog-based knowledge management and planning for multi-robot tasks. The…

This paper presents an improved system based on our prior work, designed to create explanations for autonomous robot actions during Human-Robot Interaction (HRI). Previously, we developed a system that used Large Language Models (LLMs) to…

Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…

In assistive robotics serving people with disabilities (PWD), accurate place recognition in built environments is crucial to ensure that robots navigate and interact safely within diverse indoor spaces. Language interfaces, particularly…

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…

Robots navigating dynamic, cluttered, and semantically complex environments must integrate perception, symbolic reasoning, and spatial planning to generalize across diverse layouts and object categories. Existing methods often rely on…