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Self-adaptive robotic systems operate autonomously in dynamic and uncertain environments, requiring robust real-time monitoring and adaptive behaviour. Unlike traditional robotic software with predefined logic, self-adaptive robots exploit…
Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
The use of domain-specific modeling for development of complex (cyber-physical) systems is gaining increasing acceptance in the industrial environment. Domain-specific modeling allows complex systems and data to be abstracted for a more…
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…
We propose a novel approach to enhancing the performance and efficiency of large language models (LLMs) by combining domain prompt routing with domain-specialized models. We introduce a system that utilizes a BERT-based router to direct…
Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…
AI-assisted programming greatly increases software development performance. We enhance this potential by integrating transparency through domain-specific modeling techniques and providing instantaneous, graphical visualizations that…
Despite significant technological advancements, the process of programming robots for adaptive assembly remains labor-intensive, demanding expertise in multiple domains and often resulting in task-specific, inflexible code. This work…
We define a domain-specific language (DSL) to inductively assemble flow networks from small networks or modules to produce arbitrarily large ones, with interchangeable functionally-equivalent parts. Our small networks or modules are "small"…
Dynamic data-driven Digital Twins (DDTs) can enable informed decision-making and provide an optimisation platform for the underlying system. By leveraging principles of Dynamic Data-Driven Applications Systems (DDDAS), DDTs can formulate…
Even though modern service-oriented and data-oriented architectures promise to deliver loosely coupled control systems, they are inherently brittle as they commonly depend on a priori agreed interfaces and data models. At the same time, the…
In recent years, the integration of large language models (LLMs) has revolutionized the field of robotics, enabling robots to communicate, understand, and reason with human-like proficiency. This paper explores the multifaceted impact of…
This paper introduces the Differentiable Algorithm Network (DAN), a composable architecture for robot learning systems. A DAN is composed of neural network modules, each encoding a differentiable robot algorithm and an associated model; and…
The goal of the DSLDI workshop is to bring together researchers and practitioners interested in sharing ideas on how DSLs should be designed, implemented, supported by tools, and applied in realistic application contexts. We are both…
The advent and fast development of neural networks have revolutionized the research on dialogue systems and subsequently have triggered various challenges regarding their automatic evaluation. Automatic evaluation of open-domain dialogue…
One of the fundamental functionalities for accepting a socially assistive robot is its communication capabilities with other agents in the environment. In the context of the ROBIN project, situational dialogue through voice interaction with…
Domain-specific languages (DSLs) play a crucial role in facilitating a wide range of software development activities in the context of model-driven engineering (MDE). However, a systematic understanding of their evolution is lacking, which…
An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…