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Robots are notoriously difficult to design because of complex interdependencies between their physical structure, sensory and motor layouts, and behavior. Despite this, almost every detail of every robot built to date has been manually…
Dynamic Translation (DT) is a sophisticated technique that allows the implementation of high-performance emulators and high-level-language virtual machines. In this technique, the guest code is compiled dynamically at runtime. Consequently,…
A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been…
Dynamic software adaptability is one of the central features leveraged by autonomic computing. However, developing software that changes its behavior at run time adapting to the operational conditions is a challenging task. Several…
This paper studies the robust optimal control design for uncertain nonlinear systems from a perspective of robust adaptive dynamic programming (robust-ADP). The objective is to fill up a gap in the past literature of ADP where dynamic…
Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…
Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…
Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of…
Domain-specific languages are becoming increasingly important. Almost every application touches multiple domains. But how to define, use, and combine multiple DSLs within the same application? The most common approach is to split the…
Natural language understanding for robotics can require substantial domain- and platform-specific engineering. For example, for mobile robots to pick-and-place objects in an environment to satisfy human commands, we can specify the language…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
Transferring reinforcement learning policies trained in physics simulation to the real hardware remains a challenge, known as the "sim-to-real" gap. Domain randomization is a simple yet effective technique to address dynamics discrepancies…
The realization of intelligent robots, operating autonomously and interacting with other intelligent agents, human or artificial, requires the integration of environment perception, reasoning, and action. Classic Artificial Intelligence…
Efforts to improve the performance of services on the transaction at a bank can be done by performing data retention, reduce the volume of data in the database production by cutting the historical data in accordance with the rules in a bank…
Dynamic programming (DP) is a fundamental method in operations research, but formulating DP models has traditionally required expert knowledge of both the problem context and DP techniques. Large Language Models (LLMs) offer the potential…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
Learning complex trajectories from demonstrations in robotic tasks has been effectively addressed through the utilization of Dynamical Systems (DS). State-of-the-art DS learning methods ensure stability of the generated trajectories;…
A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the…
Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional…
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…