# Collision- and Reachability-Aware Multi-Robot Control with Grounded LLM Planners MultiRobot Collaboration R1

🎯 We aim to ground LLM planners with feasibily knowledge, such that they can coordiate multiple robots in moving objects without collision.

We will release the code/data/models upon paper acceptance.

### Usage

1. Evaluation

```bash
bash bashes/run_box.sh
```

2. RL training

```bash
bash bashes/box-exps/run_box-fullplan.sh # FullPlan Planner
bash bashes/box-exps/run_box-replan.sh # Replan Planner
```

### Acknowledgements

Our implementation is largely inspired by following works:

- [robot-collab](https://github.com/MandiZhao/robot-collab)
- [multi-agent-framework](https://github.com/yongchao98/multi-agent-framework)
- [verl](https://github.com/volcengine/verl)
- [search-R1](https://github.com/PeterGriffinJin/Search-R1)