Related papers: Towards a Robot Perception Specification Language
This paper describes an integrated solution to the problem of describing and interpreting goals for robots in open uncertain domains. Given a formal specification of a desired situation, in which objects are described only by their…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…
Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…
Domain specific languages (DSLs) allow domain experts to model parts of the system under development in a problem-oriented notation that is well-known in the respective domain. The introduction of a DSL is often accompanied the desire to…
Model-driven software development is a promising way to cope with the complexity of system integration in advanced robotics, as it already demonstrated its benefits in domains with comparably challenging system integration requirements.…
When operating in service of people, robots need to optimize rewards aligned with end-user preferences. Since robots will rely on raw perceptual inputs like RGB images, their rewards will inevitably use visual representations. Recently…
Accurate representation of procedures in restricted scenarios, such as non-standardized scientific experiments, requires precise depiction of constraints. Unfortunately, Domain-specific Language (DSL), as an effective tool to express…
The First International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob'10) was held at the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10), October 2010 in Taipei, Taiwan. The…
Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…
We introduce RLang, a domain-specific language (DSL) for communicating domain knowledge to an RL agent. Unlike existing RL DSLs that ground to \textit{single} elements of a decision-making formalism (e.g., the reward function or policy),…
Personalization in social robots refers to the ability of the robot to meet the needs and/or preferences of an individual user. Existing approaches typically rely on large language models (LLMs) to generate context-aware responses based on…
As the first robotic platforms slowly approach our everyday life, we can imagine a near future where service robots will be easily accessible by non-expert users through vocal interfaces. The capability of managing natural language would…
This paper describes an architecture that combines the complementary strengths of declarative programming and probabilistic graphical models to enable robots to represent, reason with, and learn from, qualitative and quantitative…
Robots require knowledge about objects in order to efficiently perform various household tasks involving objects. The existing knowledge bases for robots acquire symbolic knowledge about objects from manually-coded external common sense…
Contemporary approaches to perception, planning, estimation, and control have allowed robots to operate robustly as our remote surrogates in uncertain, unstructured environments. This progress now creates an opportunity for robots to…
Planning is a critical component of any artificial intelligence system that concerns the realization of strategies or action sequences typically for intelligent agents and autonomous robots. Given predefined parameterized actions, a…
A machine can understand human activities, and the meaning of signs can help overcome the communication barriers between the inaudible and ordinary people. Sign Language Recognition (SLR) is a fascinating research area and a crucial task…
This paper introduces the new robot programming language LightRocks (Light Weight Robot Coding for Skills), a domain specific language (DSL) for robot programming. The language offers three different level of abstraction for robot…
Human-robot interactions can change significantly depending on how autonomous humans perceive a robot to be. Yet, while previous work in the HRI community measured perceptions of human autonomy, there is little work on measuring perceptions…
The thesis develops a view of design in a concept formation framework and outlines a language to describe both the object of the design and the process of designing. The unknown object at the outset of the design work may be seen as an…