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To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
The deployment of robot controllers is hindered by modeling discrepancies due to necessary simplifications for computational tractability or inaccuracies in data-generating simulators. Such discrepancies typically require ad-hoc tuning to…
Those seeking to reproduce a computational experiment often need to manually look at the code to see how to build necessary libraries, configure parameters, find data, and invoke the experiment; it is not automatic. Automatic…
Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task planning, and even…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
We introduce a domain-specific language (DSL) for creating sets of tile types for simulations of the abstract Tile Assembly Model. The language defines objects known as tile templates, which represent related groups of tiles, and a small…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
Deploying large language model-based code generation in real-world client-side development remains challenging due to heterogeneous inputs, strict engineering constraints, and complex interaction logic expressed in product requirement…
Data-driven approaches are becoming more common as problem-solving techniques in many areas of research and industry. In most cases, machine learning models are the key component of these solutions, but a solution involves multiple such…
Programming is about automation in a wide variety of domains. Developing itself is one of those. As a side-effect, progress in automated coding may make people less willing to learn computer programming. This could become an issue, if the…
Approximate computing is a computation domain which can be used to trade time and energy with quality and therefore is useful in embedded systems. Energy is the prime resource in battery-driven embedded systems, like robots. Approximate…
Creating quantum algorithms is a difficult task, especially for computer scientist not used to quantum computing. But quantum algorithms often use similar elements. Thus, these elements provide proven solutions to recurring problems, i.e. a…
Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…
Modern computer programming languages are governed by complex syntactic rules. They are unlike natural languages; they require extensive manual work and a significant amount of learning and practicing for an individual to become skilled at…
RPA (Robotic Process Automation) helps automate repetitive tasks performed by users, often across different software solutions. Regardless of the RPA tool chosen, the key problem in automation is analyzing the steps of these tasks. This is…
The stakeholders involved in software development are becoming increasingly diverse, with both human contributors from varied backgrounds and AI-powered agents collaborating together in the process. This situation presents unique governance…
A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been…