Related papers: ROSS User's Guide and Reference Manual (Version 1.…

This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems, aiming to enhance the efficiency and intelligence of autonomous robotic missions. The methodology encompasses several key steps: defining…

Autonomous mobile robots can rely on several human motion detection and prediction systems for safe and efficient navigation in human environments, but the underline model architectures can have different impacts on the trustworthiness of…

This paper presents INGRESS, a robot system that follows human natural language instructions to pick and place everyday objects. The core issue here is the grounding of referring expressions: infer objects and their relationships from input…

Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR interfaces often rely on manual "air tap" gestures for goal…

This paper outlines a conceptual framework for understanding recent developments in information retrieval and natural language processing that attempts to integrate dense and sparse retrieval methods. I propose a representational approach…

Large Language Models have demonstrated remarkable abilities across various tasks, with Chain-of-Thought (CoT) prompting emerging as a key technique to enhance reasoning capabilities. However, existing research primarily focuses on…

The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…

Recent years have seen an increasing number of applications that have a natural language interface, either in the form of chatbots or via personal assistants such as Alexa (Amazon), Google Assistant, Siri (Apple), and Cortana (Microsoft).…

The visual world is very rich and generally too complex to perceive in its entirety. Yet only certain features are typically required to adequately perform some task in a given situation. Rather than hardwire-in decisions about when and…

Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for…

Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…

Conversational Recommender Systems (CRSs) aim to provide personalized recommendations through multi-turn natural language interactions with users. Given the strong interaction and reasoning skills of Large Language Models (LLMs), leveraging…

Conversational recommender systems (CRS) aim to timely trace the dynamic interests of users through dialogues and generate relevant responses for item recommendations. Recently, various external knowledge bases (especially knowledge graphs)…

The vehicle to represent Knowledge Organization Systems (KOSs) in the environment of the Semantic Web and linked data is the Simple Knowledge Organization System (SKOS). SKOS provides a way to assign a URI to each concept, and this URI…

Experimental design in field robotics is an adaptive human-in-the-loop decision-making process in which an experimenter learns about system performance and limitations through interactions with a robot in the form of constructed…

Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…

Efficiency and scalability are obstacles that have not yet received a viable response from the human activity recognition research community. This paper proposes an activity recognition method. The knowledge model is in the form of…

An object--oriented approach to create a natural language understanding system is considered. The understanding program is a formal system built on the base of predicative calculus. Horn's clauses are used as well--formed formulas. An…

Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…

Knowledge Organization Systems (KOSs), such as term lists, thesauri, taxonomies, and ontologies, play a fundamental role in categorising, managing, and retrieving information. In the academic domain, KOSs are often adopted for representing…