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Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…
Graphic design is an effective language for visual communication. Using complex composition of visual elements (e.g., shape, color, font) guided by design principles and aesthetics, design helps produce more visually-appealing content. The…
With robotics rapidly advancing, more effective human-robot interaction is increasingly needed to realize the full potential of robots for society. While spoken language must be part of the solution, our ability to provide spoken language…
Formal grammars are extensively used in Computer Science and related fields to study the rules which govern production of a language. The use of these grammars can be extended beyond mere language production. One possibility is to view…
A Sense/Compute/Control (SCC) application is one that interacts with the physical environment. Such applications are pervasive in domains such as building automation, assisted living, and autonomic computing. Developing an SCC application…
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…
Prompt engineering has emerged as an indispensable technique for extending the capabilities of large language models (LLMs) and vision-language models (VLMs). This approach leverages task-specific instructions, known as prompts, to enhance…
In this paper, we propose a robot oriented knowledge management system based on the use of the Prolog language. Our framework hinges on a special organisation of knowledge base that enables: 1. its efficient population from natural language…
As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…
We present a framework for generating physically realizable assembly instructions from natural language descriptions. Unlike unconstrained text-to-3D approaches, our method operates within a discrete parts vocabulary, enforcing geometric…
Our work is the first attempt to apply Natural Language Processing to automate the development of simulation models of systems vitally important for logistics. We demonstrated that the framework built on top of the fine-tuned GPT-3 Codex, a…
Comprehension of spoken natural language is an essential component for robots to communicate with human effectively. However, handling unconstrained spoken instructions is challenging due to (1) complex structures including a wide variety…
Increasingly complex and autonomous robots are being deployed in real-world environments with far-reaching consequences. High-stakes scenarios, such as emergency response or offshore energy platform and nuclear inspections, require robot…
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…
We present a method for formalising quantifiers in natural language in the context of human-robot interactions. The solution is based on first-order logic extended with capabilities to represent the cardinality of variables, operating…
Developing soft circuits from individual soft logic gates poses a unique challenge: with increasing numbers of logic gates, the design and implementation of circuits leads to inefficiencies due to mathematically unoptimized circuits and…
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…
The evolution of autonomous driving has made remarkable advancements in recent years, evolving into a tangible reality. However, a human-centric large-scale adoption hinges on meeting a variety of multifaceted requirements. To ensure that…
Large language models such as ChatGPT have the potential to revolutionize the construction industry by automating repetitive and time-consuming tasks. This paper presents a study in which ChatGPT was used to generate a construction schedule…
This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…