Related papers: A Graphical Language for Real-Time Critical Robot …
Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need,…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…
In this paper we apply a model-driven engineering approach to designing domain-specific solutions for robot control system development. We present a case study of the complete process, including identification of the domain meta-model,…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
We describe a strategy language to control the application of graph rewriting rules, and show how this language can be used to write high-level declarative programs in several application areas. This language is part of a graph-based…
Robotics poses a challenge for software engineering as the vast numbers of different robot platforms impose different requirements on robot control architectures. The platform dependent development of robotic applications impedes…
Mechanical metamaterials utilize intricate architectural designs to achieve advanced properties beyond those of their bulk counterparts. Existing metamaterial designs often rely on design inspirations and extensive experimental and…
Constraint Handling Rules (CHR) has matured into a general purpose language over the past two decades. Any general purpose language requires its own development tools. Visualization tools, in particular, facilitate many tasks for…
Creative coding is an experimentation-heavy activity that requires translating high-level visual ideas into code. However, most languages and libraries for creative coding may not be adequately intuitive for beginners. In this paper, we…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
The language-conditioned robotic manipulation aims to transfer natural language instructions into executable actions, from simple pick-and-place to tasks requiring intent recognition and visual reasoning. Inspired by the dual process theory…
Bots are software systems designed to support users by automating a specific process, task, or activity. When such systems implement a conversational component to interact with the users, they are also known as conversational agents. Bots,…
Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…
Complex real-time control system is a software dense and algorithms dense system, which needs modern software engineering techniques to design. UML is an object-oriented industrial standard modeling language, used more and more in real-time…
One of the main barriers preventing widespread use of formal methods is the elicitation of formal specifications. Formal specifications facilitate the testing and verification process for safety critical robotic systems. However, handling…
Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…
We aim to control a robot to physically behave in the real world following any high-level language command like "cartwheel" or "kick". Although human motion datasets exist, this task remains particularly challenging since generative models…
Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language instructions and unknown environmental states. Furthermore,…
Software architecture related issues are important for robotic systems. Architecture centric development and evolution of software for robotic systems has been attracting researchers attention for more than two decades. The objective of…