A model for verifiable grounding and execution of complex natural language instructions. - Adrian Boteanu; Thomas M. Howard; Jacob Arkin; Hadas Kress-Gazit (IROS, 2016)

Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Manipulators. - Rohan Paul; Jacob Arkin; Nicholas Roy; Thomas M. Howard (Robotics: Science and Systems, 2016)

Grounding Abstract Spatial Concepts for Language Interaction with Robots. - Rohan Paul; Jacob Arkin; Nicholas Roy; Thomas M. Howard (IJCAI, 2017)

Contextual awareness: Understanding monologic natural language instructions for autonomous robots. - Jacob Arkin; Matthew R. Walter; Adrian Boteanu; Michael E. Napoli; Harel Biggie; Hadas Kress-Gazit; Thomas M. Howard (RO-MAN, 2017)

Robot-Initiated Specification Repair through Grounded Language Interaction. - Adrian Boteanu; Jacob Arkin; Siddharth Patki; Thomas M. Howard; Hadas Kress-Gazit (CoRR, 2017)

Real-time natural language corrections for assistive robotic manipulators. - Alexander Broad; Jacob Arkin; Nathan D. Ratliff; Thomas M. Howard; Brenna D. Argall (Int. J. Robotics Res., 2017)

Real-Time Human-Robot Communication for Manipulation Tasks in Partially Observed Environments. - Jacob Arkin; Rohan Paul; Daehyung Park; Subhro Roy; Nicholas Roy; Thomas M. Howard (ISER, 2018)

Efficient grounding of abstract spatial concepts for natural language interaction with robot platforms. - Rohan Paul; Jacob Arkin; Derya Aksaray; Nicholas Roy; Thomas M. Howard (Int. J. Robotics Res., 2018)

Multimodal estimation and communication of latent semantic knowledge for robust execution of robot instructions. - Jacob Arkin; Daehyung Park; Subhro Roy; Matthew R. Walter; Nicholas Roy; Thomas M. Howard; Rohan Paul (Int. J. Robotics Res., 2020)

Discrete Optimization of Adaptive State Lattices for Iterative Motion Planning on Unmanned Ground Vehicles. - Benned Hedegaard; Ethan Fahnestock; Jacob Arkin; Ashwin Menon; Thomas M. Howard (IROS, 2021)

An Efficient Algorithm for Visualization and Interpretation of Grounded Language Models. - Jacob Arkin; Siddharth Patki; Joshua D. Rosser; Thomas M. Howard (RO-MAN, 2022)

An Intelligence Architecture for Grounded Language Communication with Field Robots. - Thomas M. Howard; Ethan Stump; Jonathan Fink; Jacob Arkin; Rohan Paul; Daehyung Park; Subhro Roy; Daniel Barber; Rhyse Bendell; Karl Schmeckpeper; Junjiao Tian; Jean Oh; et al. (Field Robotics, 2022)

Language Guided Temporally Adaptive Perception for Efficient Natural Language Grounding in Cluttered Dynamic Worlds. - Siddharth Patki; Jacob Arkin; Nikola Raicevic; Thomas M. Howard (IROS, 2023)

Resolving Ambiguity via Dialogue to Correct Unsynthesizable Controllers for Free-Flying Robots. - Joshua D. Rosser; Jacob Arkin; Siddharth Patki; Thomas M. Howard (CoRR, 2023)

AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers. - Yongchao Chen; Jacob Arkin; Yang Zhang 001; Nicholas Roy; Chuchu Fan (CoRR, 2023)

PRompt Optimization in Multi-Step Tasks (PROMST): Integrating Human Feedback and Heuristic-based Sampling. - Yongchao Chen; Jacob Arkin; Yilun Hao; Yang Zhang 001; Nicholas Roy; Chuchu Fan (EMNLP, 2024)

AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers. - Yongchao Chen; Jacob Arkin; Charles Dawson 001; Yang Zhang 001; Nicholas Roy; Chuchu Fan (ICRA, 2024)

Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems? - Yongchao Chen; Jacob Arkin; Yang Zhang 001; Nicholas Roy; Chuchu Fan (ICRA, 2024)

PRompt Optimization in Multi-Step Tasks (PROMST): Integrating Human Feedback and Preference Alignment. - Yongchao Chen; Jacob Arkin; Yilun Hao; Yang Zhang 001; Nicholas Roy; Chuchu Fan (CoRR, 2024)

Large Language Models to the Rescue: Deadlock Resolution in Multi-Robot Systems. - Kunal Garg; Jacob Arkin; Songyuan Zhang; Nicholas Roy; Chuchu Fan (CoRR, 2024)

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs. - Jared Strader; Aaron Ray; Jacob Arkin; Mason B. Peterson; Yun Chang; Nathan Hughes; Christopher Bradley; Yi Xuan Jia; Carlos Nieto-Granda; Rajat Talak; Chuchu Fan; Luca Carlone; et al. (CoRR, 2025)