113 citations · 319 across the 38 of their papers we have counts for
44 papers
Toward Human-in-the-Loop Robot Failure Recovery: Bridging Communication Gaps in Human-Robot Collaboration
Promise Ekpo, Teju Vijay, Dhruv Mandalik +5
Robots can recover from failures by asking bystanders for help, but effective human-in-the-loop recovery requires communication that accounts for differences in people's knowledge.…
Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition
Benedict Quartey, Sebastian Castro, Eric Rosen +3
Learning from Demonstration (LfD) enables robots to learn complex behaviors from expert examples, yet existing approaches often fail to generalize to new compositions of known skil…
LEGS-POMDP: Language and Gesture-Guided Object Search in Partially Observable Environments
Ivy Xiao He, Stefanie Tellex, Jason Xinyu Liu
To assist humans in open-world environments, robots must interpret ambiguous instructions to locate desired objects. Foundation model-based approaches excel at multimodal grounding…
Language Model as Planner and Formalizer under Constraints
Cassie Huang, Stuti Mohan, Ziyi Yang +2
LLMs have been widely used in planning, either as planners to generate action sequences end-to-end, or as formalizers to represent the planning domain and problem in a formal langu…
Task and Skill Planning: Hierarchical Robot Planning with Black-Box Skills
Benned Hedegaard, Yichen Wei, Ziyi Yang +4
Task and motion planning (TAMP) is a well-established approach for solving long-horizon robot planning problems. Although TAMP methods have historically assumed that each task-leve…
Skill Generalization with Verbs
Rachel Ma, Lyndon Lam, Benjamin A. Spiegel +6
It is imperative that robots can understand natural language commands issued by humans. Such commands typically contain verbs that signify what action should be performed on a give…