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This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot programs using large language models (LLMs)…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
We present a system for generating and understanding of dynamic and static spatial relations in robotic interaction setups. Robots describe an environment of moving blocks using English phrases that include spatial relations such as…
Service robots for personal use in the home and the workplace require end-user development solutions for swiftly scripting robot tasks as the need arises. Many existing solutions preserve ease, efficiency, and convenience through simple…
When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop…
Reinforcement learning is a promising approach for learning control policies for robot tasks. However, specifying complex tasks (e.g., with multiple objectives and safety constraints) can be challenging, since the user must design a reward…
Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…
A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and…
Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected…
Complex automated proof strategies are often difficult to extract, visualise, modify, and debug. Traditional tactic languages, often based on stack-based goal propagation, make it easy to write proofs that obscure the flow of goals between…
The analysis, design and development of a graphical programming IDE for mini-robotic agents allows novice users to program robotic agents by a graphical drag and drop interface, without knowing the syntax and semantics of the intermediate…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…
Robotic commands in natural language usually contain various spatial descriptions that are semantically similar but syntactically different. Mapping such syntactic variants into semantic concepts that can be understood by robots is…
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…
Generalist robots that can perform a range of different tasks in open-world settings must be able to not only reason about the steps needed to accomplish their goals, but also process complex instructions, prompts, and even feedback during…
Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…