10 papers
Spatial-Semantic Uncertainty in VLM-Based Target Search: Balancing Exploration and Identification
Alkesh K. Srivastava, Jonathan Diller, Vijay Kumar +1
Robots searching for a target from a natural-language description must determine not only where to search, but also which observed candidate is the desired target. These decisions…
When Information is Worth the Risk: Behavioral Valuation for Hazardous Robotic Exploration
Alkesh K. Srivastava, Aamodh Suresh, Carlos Nieto-Granda +1
Hazardous robotic exploration requires robots to map spatial risks, such as unsafe terrain, radiation, fire, mines, or structural damage, while operating where collecting informati…
A Kinetic Theory of Encounter-Based Information Propagation in Multi-Robot Systems
Alkesh K. Srivastava, Philip Dames
Multi-robot systems cannot assume persistent network connectivity. We study this problem through target tracking, where performance depends on how quickly target information is sen…
Robotic Video World Models: A Survey of Applications, Research Challenges, Future Directions
Zhiting Mei, Tenny Yin, Ola Shorinwa +9
Video world models have emerged as promising candidates for high-fidelity world models, offering the potential to synthesize high-quality videos capturing fine-grained interactions…
PFEA: An LLM-based High-Level Natural Language Planning and Feedback Embodied Agent for Human-Centered AI
Wenbin Ding, Jun Chen, Mingjia Chen +3
The rapid advancement of Large Language Models (LLMs) has marked a significant breakthrough in Artificial Intelligence (AI), ushering in a new era of Human-centered Artificial Inte…
Distributed Multi-Robot Multi-Target Simultaneous Search and Tracking in an Unknown Non-convex Environment
Jun Chen, Jiaqing Ma, Philip Dames
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking t…
Relay-Based Coordination for Energy-Efficient Multi-Robot Pickup and Delivery
Alkesh K. Srivastava, Jared Michael Levin, Philip Dames
We consider the problem of delivering multiple packages from a single depot to distinct goal locations using a homogeneous fleet of robots with limited carrying capacity. We propos…
DELIVER: A System for LLM-Guided Coordinated Multi-Robot Pickup and Delivery using Voronoi-Based Relay Planning
Alkesh K. Srivastava, Jared Michael Levin, Alexander Derrico +1
We present DELIVER (Directed Execution of Language-instructed Item Via Engineered Relay), a fully integrated framework for cooperative multi-robot pickup and delivery driven by nat…
Speech-Guided Sequential Planning for Autonomous Navigation using Large Language Model Meta AI 3 (Llama3)
Alkesh K. Srivastava, Philip Dames
In social robotics, a pivotal focus is enabling robots to engage with humans in a more natural and seamless manner. The emergence of advanced large language models (LLMs) such as G…
Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps
Timothy Chen, Ola Shorinwa, Joseph Bruno +6
We present Splat-Nav, a real-time robot navigation pipeline for Gaussian Splatting (GSplat) scenes, a powerful new 3D scene representation. Splat-Nav consists of two components: 1)…