HMCF: A Human-in-the-loop Multi-Robot Collaboration Framework Based on Large Language Models

Rapid advancements in artificial intelligence (AI) have enabled robots to performcomplex tasks autonomously with increasing precision. However, multi-robot systems (MRSs) face challenges in generalization, heterogeneity, and safety, especially when scaling to large-scale deployments like disaster response. Traditional approaches often lack generalization, requiring extensive engineering for new tasks and scenarios, and struggle with managing diverse robots. To overcome these limitations, we propose a Human-in-the-loop Multi-Robot Collaboration Framework (HMCF) powered by large language models (LLMs). LLMs enhance adaptability by reasoning over diverse tasks and robot capabilities, while human oversight ensures safety and reliability, intervening only when necessary. Our framework seamlessly integrates human oversight, LLM agents, and heterogeneous robots to optimize task allocation and execution. Each robot is equipped with an LLM agent capable of understanding its capabilities, converting tasks into executable instructions, and reducing hallucinations through task verification and human supervision. Simulation results show that our framework outperforms state-of-the-art task planning methods, achieving higher task success rates with an improvement of 4.76%. Real-world tests demonstrate its robust zero-shot generalization feature and ability to handle diverse tasks and environments with minimal human intervention.

Personalized Assignment to One of Many Treatment Arms via Regularized and Clustered Joint Assignment Forests

We consider learning personalized assignments to one of many treatment arms from a randomized controlled trial. Standard methods that estimate heterogeneous treatment effects separately for each arm may perform poorly in this case due to excess variance. We instead propose methods that pool information across treatment arms: First, we consider a regularized forest-based assignment algorithm based on greedy recursive partitioning that shrinks effect estimates across arms. Second, we augment our algorithm by a clustering scheme that combines treatment arms with consistently similar outcomes. In a simulation study, we compare the performance of these approaches to predicting arm-wise outcomes separately, and document gains of directly optimizing the treatment assignment with regularization and clustering. In a theoretical model, we illustrate how a high number of treatment arms makes finding the best arm hard, while we can achieve sizable utility gains from personalization by regularized optimization.