12 citations · 14 across the 6 of their papers we have counts for
7 papers
FLEET: Formal Language-Grounded Scheduling for Heterogeneous Robot Teams
Corban Rivera, Grayson Byrd, Meghan Booker +6
Coordinating heterogeneous robot teams from free-form natural-language instructions is hard. Language-only planners struggle with long-horizon coordination and hallucination, while…
Constrained Natural Language Action Planning for Resilient Embodied Systems
Grayson Byrd, Corban Rivera, Bethany Kemp +5
Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language…
EmbodiedRAG: Dynamic 3D Scene Graph Retrieval for Efficient and Scalable Robot Task Planning
Meghan Booker, Grayson Byrd, Bethany Kemp +2
Recent advances in Large Language Models (LLMs) have helped facilitate exciting progress for robotic planning in real, open-world environments. 3D scene graphs (3DSGs) offer a prom…
ConceptAgent: LLM-Driven Precondition Grounding and Tree Search for Robust Task Planning and Execution
Corban Rivera, Grayson Byrd, William Paul +12
Robotic planning and execution in open-world environments is a complex problem due to the vast state spaces and high variability of task embodiment. Recent advances in perception a…
An Evaluation of Large Pre-Trained Models for Gesture Recognition using Synthetic Videos
Arun Reddy, Ketul Shah, Corban Rivera +3
In this work, we explore the possibility of using synthetically generated data for video-based gesture recognition with large pre-trained models. We consider whether these models h…
Unsupervised Video Domain Adaptation with Masked Pre-Training and Collaborative Self-Training
Arun Reddy, William Paul, Corban Rivera +3
In this work, we tackle the problem of unsupervised domain adaptation (UDA) for video action recognition. Our approach, which we call UNITE, uses an image teacher model to adapt a…
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning
Qiao Gu, Alihusein Kuwajerwala, Sacha Morin +13
For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and pla…