16 papers · 1 filter
Prompting Robot Teams with Natural Language
Eduardo Sebastián, Nicolas Pfitzer, Ajay Shankar +1
This paper presents a framework to prompt multi-robot teams with high-level tasks using natural language expressions. Our objective is to use the reasoning capabilities of language…
World-Task Factorization for Robot Learning
Eduardo Sebastián, Adrian Pfisterer, Vito Mengers +2
Robot learning must produce policies that generalize to new combinations of constraints, teammates, and environments. To achieve this, we must structurally factor the policy, which…
Differentiable Environment-Trajectory Co-Optimization for Safe Multi-Agent Navigation
Zhan Gao, Gabriele Fadini, Stelian Coros +1
The environment plays a critical role in multi-agent navigation by imposing spatial constraints, rules, and limitations that agents must navigate around. Traditional approaches tre…
db-LaCAM: Fast and Scalable Multi-Robot Kinodynamic Motion Planning with Discontinuity-Bounded Search and Lightweight MAPF
Akmaral Moldagalieva, Keisuke Okumura, Amanda Prorok +1
State-of-the-art multi-robot kinodynamic motion planners struggle to handle more than a few robots due to high computational burden, which limits their scalability and results in s…
Wake Up to the Past: Using Memory to Model Fluid Wake Effects on Robots
Luca Vendruscolo, Eduardo Sebastián, Amanda Prorok +1
Autonomous aerial and aquatic robots that attain mobility by perturbing their medium, such as multicopters and torpedoes, produce wake effects that act as disturbances for adjacent…
From Vision to Decision: Neuromorphic Control for Autonomous Navigation and Tracking
Chuwei Wang, Eduardo Sebastián, Amanda Prorok +1
Robotic navigation has historically struggled to reconcile reactive, sensor-based control with the decisive capabilities of model-based planners. This duality becomes critical when…