As robots become increasingly capable, users will want to describe high-level missions and have robots infer the relevant details. Because pre-built maps are difficult to obtain in many realistic settings, accomplishing such missions will require the robot to map and plan online. While many semantic planning methods operate online, they are typically designed for well specified missions such as object search or exploration. Recently, Large Language Models (LLMs) have demonstrated powerful contextual reasoning abilities over a range of robotic tasks described in natural language. However, existing LLM-enabled planners typically do not consider online planning or complex missions; rather, relevant subtasks and semantics are provided by a pre-built map or a user. We address these limitations via SPINE, an online planner for missions with incomplete mission specifications provided in natural language. The planner uses an LLM to reason about subtasks implied by the mission specification and then realizes these subtasks in a receding horizon framework. Tasks are automatically validated for safety and refined online with new map observations. We evaluate SPINE in simulation and real-world settings with missions that require multiple steps of semantic reasoning and exploration in cluttered outdoor environments of over 20,000m2. Compared to baselines that use existing LLM-enabled planning approaches, our method is over twice as efficient in terms of time and distance, requires less user interactions, and does not require a full map. Additional resources are provided at https://zacravichandran.github.io/SPINE.

The recent introduction of large language models (LLMs) has revolutionized the field of robotics by enabling contextual reasoning and intuitive human-robot interaction in domains as varied as manipulation, locomotion, and self-driving vehicles. When viewed as a stand-alone technology, LLMs are known to be vulnerable to jailbreaking attacks, wherein mali-cious prompters elicit harmful text by bypassing LLM safety guardrails. To assess the risks of deploying LLMs in robotics, in this paper, we introduce ROBOPAIR, the first algorithm designed to jailbreak LLM-controlled robots. Unlike existing, textual attacks on LLM chatbots, Robopairelicits harmful physical actions from LLM-controlled robots, a phenomenon we experimentally demonstrate in three scenarios: (i) a white-box setting, wherein the attacker has full access to the NVID IA Dolphins self-driving LLM, (ii) a gray-box setting, wherein the attacker has partial access to a Clearpath Robotics Jackal UGV robot equipped with a GPT-40 planner, and (iii) a black-box setting, wherein the attacker has only query access to the GPT-3.5-integrated Unitree Robotics Go2robot dog. In each scenario and across three new datasets of harmful robotic actions, we demonstrate that ROBOPAIR, as well as several static baselines, finds jailbreaks quickly and effectively, often achieving 100 % attack success rates. Our results reveal, for the first time, that the risks of jailbroken LLMs extend far beyond text generation, given the distinct possibility that jailbroken robots could cause physical damage in the real world. Indeed, our results on the U nitree G02represent the first successful jailbreak of a deployed commercial robotic system. Addressing this emerging vulnerability is critical for ensuring the safe deployment of LLMs in robotics. Additional media is available at: https://robopair.org.

Multi-robot collaboration in large-scale environments with limited-sized teams and without external infrastructure is challenging, since the software framework required to support complex tasks must be robust to unreliable and intermittent communication links. In this work, we present MOCHA (Multi-robot Opportunistic Communication for Heterogeneous Collaboration), a framework for resilient multi-robot collaboration that enables large-scale exploration in the absence of continuous communications. MOCHA is based on a gossip communication protocol that allows robots to interact opportunistically whenever communication links are available, propagating information on a peer-to-peer basis. We demonstrate the performance of MOCHA through real-world experiments with commercial-off-the-shelf (COTS) communication hardware. We further explore the system’s scalability in simulation, evaluating the performance of our approach as the number of robots increases and communication ranges vary. Finally, we demonstrate how MOCHA can be tightly integrated with the planning stack of autonomous robots. We show a communication-aware planning algorithm for a high-altitude aerial robot executing a collaborative task while maximizing the amount of information shared with ground robots.The source code for MOCHA and the high-altitude UAV planning system is available open source1.

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided as observations in place of raw sensor data (e.g., RGB images). However, such policies must still learn latent three-dimensional scene properties from mid-level abstractions. In contrast, high-level, hierarchical representations such as 3D scene graphs explicitly provide a scene's geometry, topology, and semantics, making them compelling representations for navigation. In this work, we present a reinforcement learning framework that leverages high-level hierarchical representations to learn navigation policies. Towards this goal, we propose a graph neural network architecture and show how to embed a 3D scene graph into an agent-centric feature space, which enables the robot to learn policies that map 3D scene graphs to a platform-agnostic control space (e.g., go straight, turn left). For each node in the scene graph, our method uses features that capture occupancy and semantic content, while explicitly retaining memory of the robot trajectory. We demonstrate the effectiveness of our method against commonly used visuomotor policies in a challenging multi-object search task. These experiments and supporting ablation studies show that our method leads to more effective object search behaviors, exhibits improved long-term memory, and successfully leverages hierarchical information to guide its navigation objectives.