Related papers: A Graphical Language for Real-Time Critical Robot …
Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…
Robot-based assembly in construction has emerged as a promising solution to address numerous challenges such as increasing costs, labor shortages, and the demand for safe and efficient construction processes. One of the main obstacles in…
Foundation models are rapidly improving the capability of robots in performing everyday tasks autonomously such as meal preparation, yet robots will still need to be instructed by humans due to model performance, the difficulty of capturing…
We propose and demonstrate the task of giving natural language summaries of the actions of a robotic agent in a virtual environment. We explain why such a task is important, what makes it difficult, and discuss how it might be addressed. To…
Acting is an important decisional function for autonomous robots. Acting relies on skills to implement and to model the activities it oversees: refinement, local recovery, temporal dispatching, external asynchronous events, and commands…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
How to best use Large Language Models (LLMs) for software engineering is covered in many publications in recent years. However, most of this work focuses on widely-used general purpose programming languages. The utility of LLMs for software…
We have a vision of a day when autonomous robots can collaborate with humans as assistants in performing complex tasks in the physical world. This vision includes that the robots will have the ability to communicate with their human…
While recent advances in deep learning have demonstrated its transformative potential, its adoption for real-world manufacturing applications remains limited. We present an Explanation User Interface (XUI) for a state-of-the-art deep…
Robot world model representations are a vital part of robotic applications. However, there is no support for such representations in model-driven engineering tool chains. This work proposes a novel Domain Specific Language (DSL) for robotic…
End-user robot programming grants users the flexibility to re-task robots in situ, yet it remains challenging for novices due to the need for specialized robotics knowledge. Large Language Models (LLMs) hold the potential to lower the…
Natural language offers a convenient, flexible interface for controlling robotic C-arm X-ray systems, making advanced functionality and controls accessible. However, enabling language interfaces requires specialized AI models that interpret…
Communicating complex system designs or scientific processes through text alone is inefficient and prone to ambiguity. A system that automatically generates scientific architecture diagrams from text with high semantic fidelity can be…
We introduce a novel paradigm for robot pro- gramming with which we aim to make robot programming more accessible for unexperienced users. In order to do so we incorporate two major components in one single framework: autonomous skill…
GP (for Graph Programs) is a rule-based, nondeterministic programming language for solving graph problems at a high level of abstraction, freeing programmers from handling low-level data structures. The core of GP consists of four…
Polymorphic types are an important feature in most strongly typed programming languages. They allow functions to be written in a way that can be used with different data types, while still enforcing the relationship and constraints between…
In this paper, we present a model for semantic memory that allows machines to collect information and experiences to become more proficient with time. Post semantic analysis of the sensory and other related data, the processed information…
Designing and building automated systems with which people can interact naturally is one of the emerging objective of Mechatronics. In this perspective multimodality and adaptivity represent focal issues, enabling users to communicate more…
Robotic control tasks are often first run in simulation for the purposes of verification, debugging and data augmentation. Many methods exist to specify what task a robot must complete, but few exist to specify what range of environments a…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…