{"id":"https://openalex.org/W4413156976","doi":"https://doi.org/10.1109/lra.2025.3598648","title":"Nl2Hltl2Plan: Scaling Up Natural Language Understanding for Multi-Robots Through Hierarchical Temporal Logic Task Specifications","display_name":"Nl2Hltl2Plan: Scaling Up Natural Language Understanding for Multi-Robots Through Hierarchical Temporal Logic Task Specifications","publication_year":2025,"publication_date":"2025-08-13","ids":{"openalex":"https://openalex.org/W4413156976","doi":"https://doi.org/10.1109/lra.2025.3598648"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3598648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3598648","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061227955","display_name":"Shaojun Xu","orcid":"https://orcid.org/0009-0008-4817-468X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaojun Xu","raw_affiliation_strings":["Department of Precision Instrument, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-4817-468X","affiliations":[{"raw_affiliation_string":"Department of Precision Instrument, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009405571","display_name":"Xusheng Luo","orcid":"https://orcid.org/0000-0003-4342-7234"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xusheng Luo","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4342-7234","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067419668","display_name":"Yutong Huang","orcid":"https://orcid.org/0000-0002-4103-0850"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yutong Huang","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102558101","display_name":"Letian Leng","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Letian Leng","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0009-0009-0376-8473","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ruixuan Liu","orcid":"https://orcid.org/0000-0001-6249-5473"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruixuan Liu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6249-5473","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040156274","display_name":"Changliu Liu","orcid":"https://orcid.org/0000-0002-3767-5517"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changliu Liu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3767-5517","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":3.3735,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.92601511,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"10","first_page":"10482","last_page":"10489"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6861152052879333},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6840983629226685},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5603165626525879},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.5432234406471252},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.4660530984401703},{"id":"https://openalex.org/keywords/natural","display_name":"Natural (archaeology)","score":0.4643208384513855},{"id":"https://openalex.org/keywords/temporal-logic-of-actions","display_name":"Temporal logic of actions","score":0.4398178458213806},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.4395727813243866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3657628297805786},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.28510284423828125},{"id":"https://openalex.org/keywords/interval-temporal-logic","display_name":"Interval temporal logic","score":0.257715106010437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12219896912574768},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08215644955635071},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07622158527374268},{"id":"https://openalex.org/keywords/history","display_name":"History","score":0.061228394508361816}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6861152052879333},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6840983629226685},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5603165626525879},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.5432234406471252},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.4660530984401703},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.4643208384513855},{"id":"https://openalex.org/C11648818","wikidata":"https://www.wikidata.org/wiki/Q2403081","display_name":"Temporal logic of actions","level":4,"score":0.4398178458213806},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.4395727813243866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3657628297805786},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.28510284423828125},{"id":"https://openalex.org/C162670838","wikidata":"https://www.wikidata.org/wiki/Q6057295","display_name":"Interval temporal logic","level":3,"score":0.257715106010437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12219896912574768},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08215644955635071},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07622158527374268},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.061228394508361816},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3598648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3598648","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322923","display_name":"Siemens","ror":"https://ror.org/059mq0909"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1540883472","https://openalex.org/W2123713131","https://openalex.org/W2970476646","https://openalex.org/W3034758614","https://openalex.org/W3119321206","https://openalex.org/W3136316167","https://openalex.org/W4246913434","https://openalex.org/W4382463985","https://openalex.org/W4383097638","https://openalex.org/W4383108852","https://openalex.org/W4384521943","https://openalex.org/W4386215566","https://openalex.org/W4389519952","https://openalex.org/W4393324788","https://openalex.org/W4399526604","https://openalex.org/W4401023571","https://openalex.org/W4401415287","https://openalex.org/W4401415431","https://openalex.org/W4401416363","https://openalex.org/W4402353985","https://openalex.org/W4405787555","https://openalex.org/W4407097799","https://openalex.org/W4413155362","https://openalex.org/W6908896422"],"related_works":["https://openalex.org/W2388767615","https://openalex.org/W2949352632","https://openalex.org/W1981384792","https://openalex.org/W1549387132","https://openalex.org/W4387188591","https://openalex.org/W1513198022","https://openalex.org/W2368686086","https://openalex.org/W2561906579","https://openalex.org/W2124110813","https://openalex.org/W2015571575"],"abstract_inverted_index":{"To":[0],"enable":[1],"non-experts":[2],"to":[3,14,37,55,127],"specify":[4],"long-horizon,":[5],"multi-robot":[6,39,148],"collaborative":[7],"tasks,":[8],"language":[9,17,67],"models":[10],"are":[11,117,133],"increasingly":[12],"used":[13,135],"translate":[15],"natural":[16,66],"commands":[18,68],"into":[19,69,96,112,119],"formal":[20],"specifications.":[21],"However,":[22],"because":[23],"translation":[24,82],"can":[25,49],"occur":[26],"in":[27,144,152,176],"multiple":[28],"ways,":[29],"such":[30],"translations":[31],"may":[32],"lack":[33],"accuracy":[34],"or":[35],"lead":[36],"inefficient":[38],"planning.":[40,150,180],"Our":[41],"key":[42],"insight":[43],"is":[44],"that":[45,64],"concise":[46],"hierarchical":[47,70,120,145],"specifications":[48,132],"simplify":[50],"planning":[51,79],"while":[52,168],"remaining":[53],"straightforward":[54],"derive":[56],"from":[57],"human":[58,158],"instructions.":[59],"We":[60],"proposeNl2Hltl2Plan,":[61],"a":[62,97,107],"framework":[63],"translates":[65],"Linear":[71],"Temporal":[72],"Logic":[73],"(LTL)":[74],"and":[75,103,154,173,179],"solves":[76],"the":[77,123,140],"corresponding":[78,126],"problem.":[80],"The":[81],"involves":[83],"two":[84],"steps":[85],"leveraging":[86],"Large":[87],"Language":[88],"Models":[89],"(LLMs).":[90],"First,":[91],"an":[92],"LLM":[93,109],"transforms":[94],"instructions":[95,167],"Hierarchical":[98],"Task":[99],"Tree,":[100],"capturing":[101],"logical":[102],"temporal":[104],"relations.":[105],"Next,":[106],"fine-tuned":[108],"converts":[110],"sub-tasks":[111],"standard":[113],"LTL":[114],"formulas,":[115],"which":[116],"aggregated":[118],"specifications,":[121],"with":[122,136,157],"lowest":[124],"level":[125],"ordered":[128],"robot":[129],"actions.":[130],"These":[131],"then":[134],"off-the-shelf":[137],"planners.":[138],"OurNl2Hltl2Plandemonstrates":[139],"potential":[141],"of":[142],"LLMs":[143],"reasoning":[146],"for":[147],"task":[149,177],"Evaluations":[151],"simulation":[153],"real-world":[155],"experiments":[156],"participants":[159],"show":[160],"thatNl2Hltl2Planoutperforms":[161],"existing":[162],"methods,":[163],"handling":[164],"more":[165],"complex":[166],"achieving":[169],"higher":[170],"success":[171],"rates":[172],"lower":[174],"costs":[175],"allocation":[178]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}