相关论文: Object Search in Partially-Known Environments via …

Asymptotically optimal sampling-based planners require an intelligent exploration strategy to accelerate convergence. After an initial solution is found, a necessary condition for improvement is to generate new samples in the so-called…

In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…

Large Language Models (LLMs) have recently improved mathematical reasoning through Reinforcement Learning with Verifiable Reward (RLVR). However, existing RLVR algorithms require large query budgets, making annotation costly. We investigate…

Despite the remarkable successes of large language models (LLMs), the underlying Transformer architecture has inherent limitations in handling complex reasoning tasks. Chain-of-thought (CoT) prompting has emerged as a practical workaround,…

Grounding is a critical step in classical planning, yet it often becomes a computational bottleneck due to the exponential growth in grounded actions and atoms as task size increases. Recent advances in partial grounding have addressed this…

Object Goal Navigation (ObjectNav) in temporally changing indoor environments is challenging because object relocation can invalidate historical scene knowledge. To address this issue, we propose a probabilistic planning framework that…

Several planners have been proposed to compute robot paths that reach desired goal regions while avoiding obstacles. However, these methods fail when all pathways to the goal are blocked. In such cases, the robot must reason about how to…

This research focuses on how Large Language Models (LLMs) can help with (path) planning for mobile embodied agents such as robots, in a human-in-the-loop and interactive manner. A novel framework named LLM A*, aims to leverage the…

Object search is a challenging task because when given complex language descriptions (e.g., "find the white cup on the table"), the robot must move its camera through the environment and recognize the described object. Previous works map…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…

Prompt optimization aims to search for effective prompts that enhance the performance of large language models (LLMs). Although existing prompt optimization methods have discovered effective prompts, they often differ from sophisticated…

We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…

LLM-based agents have demonstrated impressive zero-shot performance in vision-language navigation (VLN) task. However, existing LLM-based methods often focus only on solving high-level task planning by selecting nodes in predefined…

Understanding user instructions and object spatial relations in surrounding environments is crucial for intelligent robot systems to assist humans in various tasks. The natural language and spatial reasoning capabilities of Vision-Language…

This paper introduces a novel concept, fuzzy-logic-based model predictive control (FLMPC), along with a multi-robot control approach for exploring unknown environments and locating targets. Traditional model predictive control (MPC) methods…

We address the task of long-horizon navigation in partially mapped environments for which active gathering of information about faraway unseen space is essential for good behavior. We present a novel planning strategy that, at training…

Prompt engineering plays a critical role in adapting large language models (LLMs) to complex reasoning and labeling tasks without the need for extensive fine-tuning. In this paper, we propose a novel prompt optimization pipeline for frame…

Plan Recognition algorithms require to recognize a complete hierarchy explaining the agent's actions and goals. While the output of such algorithms is informative to the recognizer, the cost of its calculation is high in run-time, space,…

We present an active mapping system that plans for both long-horizon exploration goals and short-term actions using a 3D Gaussian Splatting (3DGS) representation. Existing methods either do not take advantage of recent developments in…

The active research topic of prompt engineering makes it evident that LLMs are sensitive to small changes in prompt wording. A portion of this can be ascribed to the inductive bias that is present in the LLM. By using an LLM's output as a…