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SPINE: Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments

3 October 2024

Zachary Ravichandran

Varun Murali

Mariliza Tzes

George J. Pappas

Vijay Kumar

LRM

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Papers citing "SPINE: Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments"

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Title
Deploying Foundation Model-Enabled Air and Ground Robots in the Field: Challenges and Opportunities Zachary Ravichandran Fernando Cladera Jason Hughes Varun Murali M. Hsieh George J. Pappas Camillo J Taylor Vijay Kumar LM&Ro 74 0 0 14 May 2025
Air-Ground Collaboration for Language-Specified Missions in Unknown Environments Fernando Cladera Zachary Ravichandran Jason Hughes Varun Murali Carlos Nieto-Granda M. Hsieh George J. Pappas Camillo J Taylor Vijay Kumar 71 2 0 14 May 2025
LATMOS: Latent Automaton Task Model from Observation Sequences Weixiao Zhan Qiyue Dong Eduardo Sebastián Nikolay Atanasov 65 0 0 11 Mar 2025
Safety Guardrails for LLM-Enabled Robots Zachary Ravichandran Alexander Robey Vijay Kumar George Pappas Hamed Hassani 107 5 0 10 Mar 2025
LTLCodeGen: Code Generation of Syntactically Correct Temporal Logic for Robot Task Planning Behrad Rabiei Mahesh Kumar A.R. Zhirui Dai Surya L.S.R. Pilla Qiyue Dong Nikolay Atanasov LM&Ro 87 0 0 10 Mar 2025
ATLAS Navigator: Active Task-driven LAnguage-embedded Gaussian Splatting Dexter Ong Yuezhan Tao Varun Murali Igor Spasojevic Vijay Kumar Pratik Chaudhari 3DGS 147 1 0 27 Feb 2025
Air-Ground Collaboration with SPOMP: Semantic Panoramic Online Mapping and Planning Ian D. Miller Fernando Cladera Trey Smith Camillo J Taylor Vijay Kumar 76 7 0 13 Jul 2024
Real-Time Anomaly Detection and Reactive Planning with Large Language Models Rohan Sinha Amine Elhafsi Christopher Agia Matthew Foutter Edward Schmerling Marco Pavone OffRL LRM 82 32 0 11 Jul 2024
Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs Hao-Tien Lewis Chiang Zhuo Xu Zipeng Fu M. Jacob Tingnan Zhang ... Carolina Parada Chelsea Finn Peng Xu Sergey Levine Jie Tan LM&Ro 84 30 0 10 Jul 2024
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation Xu Liu Jiuzhou Lei Ankit Prabhu Yuezhan Tao Igor Spasojevic Pratik Chaudhari Nikolay Atanasov Vijay Kumar 74 13 0 25 Jun 2024
DrEureka: Language Model Guided Sim-To-Real Transfer Yecheng Jason Ma William Liang Hung-Ju Wang Sam Wang Yuke Zhu Linxi Fan Osbert Bastani Dinesh Jayaraman 124 45 0 04 Jun 2024
GroundGrid:LiDAR Point Cloud Ground Segmentation and Terrain Estimation Nicolai Steinke Daniel Goehring Raúl Rojas VOS 83 16 0 24 May 2024
SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks M. Ginting Sung-Kyun Kim David D. Fan M. Palieri Mykel J. Kochenderfer Ali-akbar Agha-Mohammadi 85 9 0 16 May 2024
RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigation Sourav Garg Krishan Rana M. Hosseinzadeh Lachlan Mares Niko Sünderhauf Feras Dayoub Ian Reid 116 20 0 09 May 2024
Real-World Deployment of a Hierarchical Uncertainty-Aware Collaborative Multiagent Planning System M. Stadler Sam Prentice Yasmin Veys Long Quang Carlos Nieto-Granda Michael Novitzky Ethan Stump Nicholas Roy 50 2 0 26 Apr 2024
Clio: Real-time Task-Driven Open-Set 3D Scene Graphs Dominic Maggio Yun Chang Nathan Hughes Matthew Trang Dan Griffith Carlyn Dougherty Eric Cristofalo Lukas Schmid Luca Carlone 3DV 69 43 0 21 Apr 2024
Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation Abdelrhman Werby Chen Huang M. Büchner Abhinav Valada Wolfram Burgard 90 85 0 26 Mar 2024
Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation Daniel Honerkamp Martin Buchner Fabien Despinoy Tim Welschehold Abhinav Valada LM&Ro 81 32 0 13 Mar 2024
Gemma: Open Models Based on Gemini Research and Technology Gemma Team Gemma Team Thomas Mesnard Cassidy Hardin Robert Dadashi Surya Bhupatiraju ... Armand Joulin Noah Fiedel Evan Senter Alek Andreev Kathleen Kenealy VLM LLMAG 208 503 0 13 Mar 2024
Task and Motion Planning in Hierarchical 3D Scene Graphs Aaron Ray Christopher Bradley Luca Carlone Nicholas Roy 3DV 42 11 0 12 Mar 2024
Verifiably Following Complex Robot Instructions with Foundation Models Benedict Quartey Eric Rosen Stefanie Tellex George Konidaris LM&Ro 114 13 0 18 Feb 2024
LLM-Assist: Enhancing Closed-Loop Planning with Language-Based Reasoning S. P. Sharan Francesco Pittaluga G. VijayKumarB. Manmohan Chandraker LRM 113 55 0 30 Dec 2023
Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies Jared Strader Nathan Hughes William Chen Alberto Speranzon Luca Carlone 3DV 66 22 0 18 Dec 2023
VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation Naoki Yokoyama Sehoon Ha Dhruv Batra Jiuguang Wang Bernadette Bucher LM&Ro 66 94 0 06 Dec 2023
Deploying and Evaluating LLMs to Program Service Mobile Robots Zichao Hu Francesca Lucchetti Claire Schlesinger Yash Saxena Anders Freeman Sadanand Modak Arjun Guha Joydeep Biswas 77 41 0 18 Nov 2023
ADaPT: As-Needed Decomposition and Planning with Language Models Archiki Prasad Alexander Koller Mareike Hartmann Peter Clark Ashish Sabharwal Mohit Bansal Tushar Khot LM&Ro 68 89 0 08 Nov 2023
REAL: Resilience and Adaptation using Large Language Models on Autonomous Aerial Robots Andrea Tagliabue Kota Kondo Tong Zhao Mason B. Peterson Claudius T. Tewari Jonathan P. How 83 13 0 02 Nov 2023
Eureka: Human-Level Reward Design via Coding Large Language Models Yecheng Jason Ma William Liang Guanzhi Wang De-An Huang Osbert Bastani Dinesh Jayaraman Yuke Zhu Linxi Fan A. Anandkumar 70 322 0 19 Oct 2023
Navigation with Large Language Models: Semantic Guesswork as a Heuristic for Planning Dhruv Shah Michael Equi B. Osinski Fei Xia Brian Ichter Sergey Levine 3DV LM&Ro 76 102 0 16 Oct 2023
ALT-Pilot: Autonomous navigation with Language augmented Topometric maps Mohammad Omama Pranav Inani Pranjal Paul Sarat Chandra Yellapragada Krishna Murthy Jatavallabhula Sandeep Chinchali Madhava Krishna 48 16 0 03 Oct 2023
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning Yuanyi Zhong Alihusein Kuwajerwala Sacha Morin Krishna Murthy Jatavallabhula Bipasha Sen ... Celso Miguel de Melo Joshua B. Tenenbaum Antonio Torralba Florian Shkurti Liam Paull LM&Ro 107 186 0 28 Sep 2023
Reasoning about the Unseen for Efficient Outdoor Object Navigation Quanting Xie Tianyi Zhang Kedi Xu Matthew Johnson-Roberson Yonatan Bisk LRM 90 11 0 18 Sep 2023
Optimal Scene Graph Planning with Large Language Model Guidance Zhirui Dai Arash Asgharivaskasi T. Duong Shusen Lin Maria-Elizabeth Tzes George Pappas Nikolay Atanasov LM&Ro 86 23 0 17 Sep 2023
3D Active Metric-Semantic SLAM Yuezhan Tao Xu Liu Igor Spasojevic Saurav Agarwa Vijay Kumar 77 17 0 13 Sep 2023
SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning Krishan Rana Jesse Haviland Sourav Garg Jad Abou-Chakra Ian Reid Niko Sünderhauf LM&Ro 79 236 0 12 Jul 2023
AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers Yongchao Chen Jacob Arkin Charles Dawson Yang Zhang Nicholas Roy Chuchu Fan LRM 77 110 0 10 Jun 2023
Voyager: An Open-Ended Embodied Agent with Large Language Models Guanzhi Wang Yuqi Xie Yunfan Jiang Ajay Mandlekar Chaowei Xiao Yuke Zhu Linxi Fan Anima Anandkumar LM&Ro SyDa 152 838 0 25 May 2023
NL2TL: Transforming Natural Languages to Temporal Logics using Large Language Models Yongchao Chen Rujul Gandhi Yang Zhang Chuchu Fan 81 56 0 12 May 2023
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems Nathan Hughes Yun Chang Siyi Hu Rajat Talak Rumaisa Abdulhai Jared Strader Luca Carlone 49 53 0 11 May 2023
LLM+P: Empowering Large Language Models with Optimal Planning Proficiency B. Liu Yuqian Jiang Xiaohan Zhang Qian Liu Shiqi Zhang Joydeep Biswas Peter Stone LM&Ro LLMAG 90 416 0 22 Apr 2023
Visual Instruction Tuning Haotian Liu Chunyuan Li Qingyang Wu Yong Jae Lee SyDa VLM MLLM 569 4,910 0 17 Apr 2023
Frontier Semantic Exploration for Visual Target Navigation Bangguo Yu Hamidreza Kasaei M. Cao 57 14 0 11 Apr 2023
Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs M. Ginting Sung-Kyun Kim Oriana Peltzer Joshua Ott Sunggoo Jung Mykel J. Kochenderfer Ali-akbar Agha-mohammadi 58 10 0 02 Apr 2023
GPT-4 Technical Report OpenAI OpenAI OpenAI Josh Achiam Steven Adler Sandhini Agarwal Lama Ahmad ... Shengjia Zhao Tianhao Zheng Juntang Zhuang William Zhuk Barret Zoph LLMAG MLLM 1.5K 14,699 0 15 Mar 2023
Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection Shilong Liu Zhaoyang Zeng Tianhe Ren Feng Li Hao Zhang ... Chun-yue Li Jianwei Yang Hang Su Jun Zhu Lei Zhang ObjD 191 2,015 0 09 Mar 2023
LLaMA: Open and Efficient Foundation Language Models Hugo Touvron Thibaut Lavril Gautier Izacard Xavier Martinet Marie-Anne Lachaux ... Faisal Azhar Aurelien Rodriguez Armand Joulin Edouard Grave Guillaume Lample ALM PILM 1.5K 13,437 0 27 Feb 2023
Grounding Complex Natural Language Commands for Temporal Tasks in Unseen Environments Jason Liu Ziyi Yang Ifrah Idrees Sam Liang Benjamin Schornstein Stefanie Tellex Ankit Parag Shah LM&Ro 71 42 0 22 Feb 2023
ESC: Exploration with Soft Commonsense Constraints for Zero-shot Object Navigation KAI-QING Zhou Kai Zheng Connor Pryor Yilin Shen Hongxia Jin Lise Getoor Xinze Wang 101 118 0 30 Jan 2023
Visual Language Maps for Robot Navigation Chen Huang Oier Mees Andy Zeng Wolfram Burgard LM&Ro 241 367 0 11 Oct 2022
Multi-Robot Coordination and Cooperation with Task Precedence Relationships W. Gosrich Siddharth Mayya S. Narayan Matthew Malencia S. Agarwal Vijay Kumar 36 8 0 28 Sep 2022