Related papers: Systematic and Realistic Testing in Simulation of …

Formal verification of robotic tasks requires a simple yet conformant model of the used robot. We present the first work on generating reachset conformant models for robotic contact tasks considering hybrid (mixed continuous and discrete)…

We study real-time collaborative robot (cobot) handling, where the cobot maneuvers a workpiece under human commands. This is useful when it is risky for humans to directly handle the workpiece. However, it is hard to make the cobot both…

Controlling contacts is truly challenging, and this has been a major hurdle to deploying industrial robots into unstructured/human-centric environments. More specifically, the main challenges are: (i) how to ensure stability at all times;…

Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…

We identify the need for a gamified self-driving simulator where game mechanics encourage high-quality data capture, and design and apply such a simulator to collecting lane-following training data. The resulting synthetic data enables a…

With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data…

Simulators are useful tools for testing automated driving controllers. Vehicle-in-the-loop (ViL) tests and digital twins (DTs) are widely used simulation technologies to facilitate the smooth deployment of controllers to physical vehicles.…

Continual reinforcement learning (CRL) requires agents to learn from a sequence of tasks without forgetting previously acquired policies. In this work, we introduce a novel benchmark suite for CRL based on realistically simulated robots in…

Agent-based coding tools have transformed software development practices. Unlike prompt-based approaches that require developers to manually integrate generated code, these agent-based tools autonomously interact with repositories to…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…

Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…

Simulation is essential to validate autonomous driving systems. However, a simple simulation, even for an extremely high number of simulated miles or hours, is not sufficient. We need well-founded criteria showing that simulation does…

An important prerequisite for the reliability and robustness of a service robot is ensuring the robot's correct behavior when it performs various tasks of interest. Extensive testing is one established approach for ensuring behavioural…

Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…

Robotics and Autonomous Systems are increasingly deployed in safety-critical domains, so that demonstrating their safety is essential. Assurance Cases (ACs) provide structured arguments supported by evidence, but generating and maintaining…

Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…

Simulation-based testing has emerged as an essential tool for verifying and validating autonomous vehicles (AVs). However, contemporary methodologies, such as deterministic and imitation learning-based driver models, struggle to capture the…

With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…

We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…