7 papers
Human-in-the-Loop Multi-Robot Information Gathering with Inverse Submodular Maximization
Guangyao Shi, Shipeng Liu, Ellen Novoseller +2
We consider a new type of inverse combinatorial optimization, Inverse Submodular Maximization (ISM), for its application in human-in-the-loop multi-robot information gathering. For…
Resilient Multi-Robot Target Tracking with Sensing and Communication Danger Zones
Peihan Li, Yuwei Wu, Jiazhen Liu +3
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable…
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, thi…
Effect of Adaptive Communication Support on LLM-powered Human-Robot Collaboration
Shipeng Liu, FNU Shrutika, Boshen Zhang +3
Effective human-robot collaboration requires robot to adopt their roles and levels of support based on human needs, task requirements, and complexity. Traditional human-robot teami…
Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy
Ihab S. Mohamed, Junhong Xu, Gaurav S Sukhatme +1
The classical Model Predictive Path Integral (MPPI) control framework, while effective in many applications, lacks reliable safety features due to its reliance on a risk-neutral tr…
Multi-Robot Target Tracking with Sensing and Communication Danger Zones
Jiazhen Liu, Peihan Li, Yuwei Wu +3
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the pra…