7 papers
KGLAMP: Knowledge Graph-guided Language model for Adaptive Multi-robot Planning and Replanning
Chak Lam Shek, Faizan M. Tariq, Sangjae Bae +2
Heterogeneous multi-robot systems are increasingly used in long-horizon missions requiring coordinated planning across diverse capabilities. However, existing planning approaches s…
Scale-Plan: Scalable Language-Enabled Task Planning for Heterogeneous Multi-Robot Teams
Piyush Gupta, Sangjae Bae, Jiachen Li +1
Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the l…
Optimal Fidelity Selection for Human-Supervised Search
Piyush Gupta, Vaibhav Srivastava
We study optimal fidelity selection in human-supervised underwater visual search, where operator performance is affected by cognitive factors like workload and fatigue. In our expe…
IANN-MPPI: Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral Approach for Autonomous Driving
Kanghyun Ryu, Minjun Sung, Piyush Gupta +4
Motion planning for autonomous vehicles (AVs) in dense traffic is challenging, often leading to overly conservative behavior and unmet planning objectives. This challenge stems fro…
GFlowVLM: Enhancing Multi-step Reasoning in Vision-Language Models with Generative Flow Networks
Haoqiang Kang, Enna Sachdeva, Piyush Gupta +2
Vision-Language Models (VLMs) have recently shown promising advancements in sequential decision-making tasks through task-specific fine-tuning. However, common fine-tuning methods,…
Graph-Grounded LLMs: Leveraging Graphical Function Calling to Minimize LLM Hallucinations
Piyush Gupta, Sangjae Bae, David Isele
The adoption of Large Language Models (LLMs) is rapidly expanding across various tasks that involve inherent graphical structures. Graphs are integral to a wide range of applicatio…