12 citations · 14 across the 6 of their papers we have counts for
4 papers · 1 filter
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…
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…