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cs.RO2025
Constrained Natural Language Action Planning for Resilient Embodied Systems
Grayson Byrd, Corban Rivera, Bethany Kemp +5
Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language…
cs.RO2024
EmbodiedRAG: Dynamic 3D Scene Graph Retrieval for Efficient and Scalable Robot Task Planning
Meghan Booker, Grayson Byrd, Bethany Kemp +2
Recent advances in Large Language Models (LLMs) have helped facilitate exciting progress for robotic planning in real, open-world environments. 3D scene graphs (3DSGs) offer a prom…