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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…
Rapid progress in high-level task planning and code generation for open-world robot manipulation has been witnessed in Embodied AI. However, previous studies put much effort into general common sense reasoning and task planning capabilities…
In traditional robot behavior programming, the edit-compile-simulate-deploy-run cycle creates a large mental disconnect between program creation and eventual robot behavior. This significantly slows down behavior development because there…
Smart factories that allow flexible production of highly individualized goods require flexible robots, usable in efficient assembly lines. Compliant robots can work safely in shared environments with domain experts, who have to program such…
Complex cyber-physical systems interact in real-time and must consider both timing and uncertainty. Developing software for such systems is expensive and difficult, especially when modeling, inference, and real-time behavior must be…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
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…
Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches…
Program synthesis aims to automatically generate an executable program that conforms to the given specification. Recent advancements have demonstrated that deep neural methodologies and large-scale pretrained language models are highly…
Natural language processing for programming aims to use NLP techniques to assist programming. It is increasingly prevalent for its effectiveness in improving productivity. Distinct from natural language, a programming language is highly…
Traditionally, computer programming has been the prerogative of professional developers using textual programming languages such as C, Java, or Python. Low-code programming promises an alternative: letting citizen developers create programs…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…
Task assignment and scheduling algorithms are powerful tools for autonomously coordinating large teams of robotic or AI agents. However, the decisions these system make often rely on components designed by domain experts, which can be…
While robots can learn models to solve many manipulation tasks from raw visual input, they cannot usually use these models to solve new problems. On the other hand, symbolic planning methods such as STRIPS have long been able to solve new…
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…
This paper is an extension to an early presented programming language, called a domain specific language. This paper extends the proposed concept with new sensors and behaviours to address real-life situations. The functionality was tested…
Self-driving laboratories based on large language models promise to transform scientific discovery through general experimental automation. However, realizing this vision on precision platforms remains challenging, requiring deterministic…
This article presents a complete scheme for the development of Critical Embedded Systems with Multiple Real-Time Constraints. The system is programmed with a language that extends the synchronous approach with high-level real-time…
Code generation, defined as automatically writing a piece of code to solve a given problem for which an evaluation function exists, is a classic hard AI problem. Its general form, writing code using a general language used by human…