6 papers
MuTRAP: Multi-trigger Trojans Attacking Robot Task Planning Systems
Mohaiminul Al Nahian, Zainab Altaweel, David Reitano +3
Robots need task planning methods to achieve goals that require more than one action. Recently, large pretrained models have demonstrated impressive performance in task planning. F…
Robot Planning and Situation Handling with Active Perception
Austine Oloo, Zainab Altaweel, Yohei Hayamizu +9
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently ar…
From Woofs to Words: Towards Intelligent Robotic Guide Dogs with Verbal Communication
Yohei Hayamizu, David DeFazio, Hrudayangam Mehta +7
Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps vi…
PROTEA: Securing Robot Task Planning and Execution
Zainab Altaweel, Mohaiminul Al Nahian, Jake Juettner +2
Robots need task planning methods to generate action sequences for complex tasks. Recent work on adversarial attacks has revealed significant vulnerabilities in existing robot task…
LLM-GROP: Visually Grounded Robot Task and Motion Planning with Large Language Models
Xiaohan Zhang, Yan Ding, Yohei Hayamizu +6
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods m…
DKPROMPT: Domain Knowledge Prompting Vision-Language Models for Open-World Planning
Xiaohan Zhang, Zainab Altaweel, Yohei Hayamizu +6
Vision-language models (VLMs) have been applied to robot task planning problems, where the robot receives a task in natural language and generates plans based on visual inputs. Whi…