7 citations · 11 across the 5 of their papers we have counts for
5 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…
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…
How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems
Oswin So, Zachary Serlin, Makai Mann +4
Control barrier functions (CBF) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to cons…
Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems?
Yongchao Chen, Jacob Arkin, Yang Zhang +2
A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance…