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We present a challenging new benchmark and learning-environment for robot learning: RLBench. The benchmark features 100 completely unique, hand-designed tasks ranging in difficulty, from simple target reaching and door opening, to longer…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…
Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not been extensively studied. In this paper, focusing on…
This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…
We present RTAMT, an online monitoring library for Signal Temporal Logic (STL) and its interface-aware variant (IA-STL), providing both discrete- and dense-time interpretation of the logic. We also introduce RTAMT4ROS, a tool that…
Context. The most used development framework for robotics software is ROS2. ROS2 architectures are highly complex, with thousands of components communicating in a decentralized fashion. Goal. We aim to evaluate how LLMs can assist in the…
Experimentation on real robots is demanding in terms of time and costs. For this reason, a large part of the reinforcement learning (RL) community uses simulators to develop and benchmark algorithms. However, insights gained in simulation…
Benchmarking is a fundamental practice in machine learning (ML) for comparing the performance of classification algorithms. However, traditional evaluation methods often overlook a critical aspect: the joint consideration of dataset…
BRICKxAR is a novel Augmented Reality (AR) instruction method for construction toys such as LEGO. With BRICKxAR, physical LEGO construction is guided by virtual bricks. Compared with the state-of-the-art, accuracy of the virtual - physical…
The third generation of artificial intelligence (AI) introduced by neuromorphic computing is revolutionizing the way robots and autonomous systems can sense the world, process the information, and interact with their environment. The…
This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…
The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…
Reinforcement Learning (RL) methods have been widely applied for robotic manipulations via sim-to-real transfer, typically with proprioceptive and visual information. However, the incorporation of tactile sensing into RL for contact-rich…
Deep Reinforcement Learning (RL) has shown great success in learning complex control policies for a variety of applications in robotics. However, in most such cases, the hardware of the robot has been considered immutable, modeled as part…
Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of wheeled motion. But along with expanded performance, the…
In \textit{computer-based testing} it has become standard to collect response accuracy (RA) and response times (RTs) for each test item. IRT models are used to measure a latent variable (e.g., ability, intelligence) using the RA…
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
This paper presents the results of reflection characteristics measurements for reconfigurable intelligent surfaces (RIS). The measurements were carried out in a non-ideal environment, i.e. typical for subsequent practical use of RISes.…
RTS2 is an open source observatory manager. It was written from scratch in the C++ language, with portability and modularity in mind. Its driving requirements originated from quick follow-ups of Gamma Ray Bursts. After some years of…