4 citations · 4 across the 4 of their papers we have counts for
4 papers
Structured Interfaces for Automated Reasoning with 3D Scene Graphs
Aaron Ray, Jacob Arkin, Harel Biggie +3
In order to provide a robot with the ability to understand and react to a user's natural language inputs, the natural language must be connected to the robot's underlying represent…
Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs
Jared Strader, Aaron Ray, Jacob Arkin +11
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructio…
Foundation Models to the Rescue: Deadlock Resolution in Connected Multi-Robot Systems
Kunal Garg, Songyuan Zhang, Jacob Arkin +1
Connected multi-agent robotic systems (MRS) are prone to deadlocks in an obstacle environment where the robots can get stuck away from their desired locations under a smooth low-le…
PRompt Optimization in Multi-Step Tasks (PROMST): Integrating Human Feedback and Heuristic-based Sampling
Yongchao Chen, Jacob Arkin, Yilun Hao +3
Prompt optimization aims to find the best prompt to a large language model (LLM) for a given task. LLMs have been successfully used to help find and improve prompt candidates for s…