Related papers: Decoupled execution of synchronous coordination mo…
Humanoid activities involving sequential contacts are crucial for complex robotic interactions and operations in the real world and are traditionally solved by model-based motion planning, which is time-consuming and often relies on…
Recent research shows a big convergence in model architecture, training objectives, and inference methods across various tasks for different modalities. In this paper, we propose VioLA, a single auto-regressive Transformer decoder-only…
Intelligent agents such as robots are increasingly deployed in real-world, safety-critical settings. It is vital that these agents are able to explain the reasoning behind their decisions to human counterparts; however, their behavior is…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
We redefine the transition function of elementary cellular automata (ECA) in terms of discrete operators. The operator representation provides a clear hint about the way systems behave both at the local and the global scale. We show that…
This study presents a synchronisation-oriented perspective towards adaptive control which views model-referenced adaptation as synchronisation between actual and virtual dynamic systems. In the context of adaptation, model reference…
Significant progress has been made in vision-language models. However, language-conditioned robotic manipulation for contact-rich tasks remains underexplored, particularly in terms of tactile sensing. To address this gap, we introduce the…
The Timed Concurrent Constraint Language tccp is a declarative synchronous concurrent language, particularly suitable for modelling reactive systems. In tccp, agents communicate and synchronise through a global constraint store. It supports…
Effective collaboration between a robot and a person requires natural communication. When a robot travels with a human companion, the robot should be able to explain its navigation behavior in natural language. This paper explains how a…
The development of human-robot collaboration has the ability to improve manufacturing system performance by leveraging the unique strengths of both humans and robots. On the shop floor, human operators contribute with their adaptability and…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
An intriguing interpretation of the time-evolution of dynamical systems is to view it as a computation that transforms an initial state to a final one. This paradigm has been explored in discrete systems such as cellular automata models,…
Robotics research has been focusing on cooperative multi-agent problems, where agents must work together and communicate to achieve a shared objective. To tackle this challenge, we explore imitation learning algorithms. These methods learn…
Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is that an effective, learned robot policy used for human-robot…
We propose a formalism to model and reason about reconfigurable multi-agent systems. In our formalism, agents interact and communicate in different modes so that they can pursue joint tasks; agents may dynamically synchronize, exchange…
In exploring the simulation of human rhythmic perception and synchronization capabilities, this study introduces a computational model inspired by the physical and biological processes underlying rhythm processing. Utilizing a reservoir…
The success of smart environments largely depends on their smartness of understanding the environments' ongoing situations. Accordingly, this task is an essence to smart environment central processors. Obtaining knowledge from the…
Interactional synchrony refers to how the speech or behavior of two or more people involved in a conversation become more finely synchronized with each other, and they can appear to behave almost in direct response to one another. Studies…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
Cellular automata (CA) are discrete-time dynamical systems with local update rules on a lattice. Despite their elementary definition, CA support a wide spectrum of macroscopic phenomena central to statistical physics: equilibrium and…