Related papers: A New Skill Based Robot Programming Language Using…
Over the past few years, Large Language Models of Code (Code LLMs) have started to have a significant impact on programming practice. Code LLMs are also emerging as building blocks for research in programming languages and software…
This paper describes Resh, a new, statically typed, interpreted programming language and associated runtime for orchestrating multirobot systems. The main features of Resh are: (1) It offloads much of the tedious work of programming such…
A growing number of publications address the best practices to use Large Language Models (LLMs) for software engineering in recent years. However, most of this work focuses on widely-used general purpose programming languages like Python…
Domain-specific languages (DSLs) are of increasing importance in scientific high-performance computing to reduce development costs, raise the level of abstraction and, thus, ease scientific programming. However, designing and implementing…
This paper presents a novel approach to generating behavior trees for robots using lightweight large language models (LLMs) with a maximum of 7 billion parameters. The study demonstrates that it is possible to achieve satisfying results…
Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and…
The quasi-repetitive nature of construction work and the resulting lack of generalizability in programming construction robots presents persistent challenges to the broad adoption of robots in the construction industry. Robots cannot…
In this paper we present a workflow to design and control robot manipulation behavior. To remain independent from particular robot hardware and an explicit area of application, an embedded domain specific language (eDSL) is used to describe…
Domain-specific languages (DSLs) play an increasingly important role in the generation of high performing software. They allow the user to exploit specific knowledge encoded in the constructs for the generation of code adapted to a…
Domain-Specific Languages (DSLs) help practitioners in contributing solutions to challenges of specific domains. The efficient development of user-friendly DSLs suitable for industrial practitioners with little expertise in modelling still…
This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…
Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…
Curriculum learning is a training mechanism in reinforcement learning (RL) that facilitates the achievement of complex policies by progressively increasing the task difficulty during training. However, designing effective curricula for a…
Writing a platform for reactive applications which enforces operational constraints is difficult, and has been approached in various ways. In this experience report, we detail an approach using an embedded DSL which can be used to specify…
Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…
Extreme Programming is the most prominent new, light-weight (or agile) methods, defined to contrast the current heavy-weight and partially overloaded object-oriented methods. It focuses on the core issues of software technology. One of its…
Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the…
Graph-based design languages in UML (Unified Modeling Language) are presented as a method to encode and automate the complete design process and the final optimization of the product or complex system. A design language consists of a…
Despite significant technological advancements, the process of programming robots for adaptive assembly remains labor-intensive, demanding expertise in multiple domains and often resulting in task-specific, inflexible code. This work…
Large Language Models (LLMs) have emerged as a promising alternative to traditional static program analysis methods, such as symbolic execution, offering the ability to reason over code directly without relying on theorem provers or SMT…