8 papers
HEART: Coordination of Heterogeneous Expert Agents for Physically Grounded Robotic Task Planning
Junho Lee, Seabin Lee, Wonjong Lee +3
Large Language Models (LLMs) can reason over complex instructions but often fail to satisfy the physical and spatial constraints required for robotic task planning. Recent LLM-base…
Reinforcement Learning for Robotic Insertion of Flexible Cables in Industrial Settings
Jeongwoo Park, Seabin Lee, Changmin Park +2
The industrial insertion of flexible flat cables (FFCs) into receptacles presents a significant challenge owing to the need for submillimeter precision when handling the deformable…
CARE: Enhancing Safety of Visual Navigation through Collision Avoidance via Repulsive Estimation
Joonkyung Kim, Joonyeol Sim, Woojun Kim +2
We propose CARE (Collision Avoidance via Repulsive Estimation) to improve the robustness of learning-based visual navigation methods. Recently, visual navigation models, particular…
Very Large-scale Multi-Robot Task Allocation in Challenging Environments via Robot Redistribution
Seabin Lee, Joonyeol Sim, Changjoo Nam
We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with dense…
Merry-Go-Round: Safe Control of Decentralized Multi-Robot Systems with Deadlock Prevention
Wonjong Lee, Joonyeol Sim, Joonkyung Kim +3
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightwe…
Safe Interval RRT* for Scalable Multi-Robot Path Planning in Continuous Space
Joonyeol Sim, Joonkyung Kim, Changjoo Nam
In this paper, we consider the problem of Multi-Robot Path Planning (MRPP) in continuous space. The difficulty of the problem arises from the extremely large search space caused by…