Related papers: Avalon: Building an Operating System for Robotcent…
As artificial intelligence (AI) and machine learning (ML) technologies disrupt a wide range of industries, cloud datacenters face ever-increasing demand in inference workloads. However, conventional CPU-based servers cannot handle excessive…
Agentic workflows in large language model systems integrate retrieval, reasoning, and memory, but existing frameworks suffer from scalability and reproducibility limitations due to fragmented data orchestration, serialization overhead, and…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
The k-center problem is a fundamental problem we often face when considering complex service systems. Typical challenges include the placement of warehouses in logistics or positioning of servers for content delivery networks. We previously…
Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…
The emergence of cloud computing based on virtualization technologies brings huge opportunities to host virtual resource at low cost without the need of owning any infrastructure. Virtualization technologies enable users to acquire,…
This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…
We present Dolphin, an extensible programming language for autonomous vehicle networks. A Dolphin program expresses an orchestrated execution of tasks defined compositionally for multiple vehicles. Building upon the base case of elementary…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…
Nowadays large-scale distributed machine learning systems have been deployed to support various analytics and intelligence services in IT firms. To train a large dataset and derive the prediction/inference model, e.g., a deep neural…
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…
We present a formal tasK AllocatioN and scheduling apprOAch for multi-robot missions (KANOA). KANOA supports two important types of task constraints: task ordering, which requires the execution of several tasks in a specified order; and…
Cloud robotics is a field of robotics that attempts to invoke Cloud technologies such as Cloud computing, Cloud storage, and other Internet technologies centered around the benefits of converged infrastructure and shared services for…
Cloud Data centers aim to provide reliable, sustainable and scalable services for all kinds of applications. Resource scheduling is one of keys to cloud services. To model and evaluate different scheduling policies and algorithms, we…
This paper introduces EmbodiedAgent, a hierarchical framework for heterogeneous multi-robot control. EmbodiedAgent addresses critical limitations of hallucination in impractical tasks. Our approach integrates a next-action prediction…
While individual robots are becoming increasingly capable, with new sensors and actuators, the complexity of expected missions increased exponentially in comparison. To cope with this complexity, heterogeneous teams of robots have become a…
Modern autonomous applications are increasingly utilizing multiple heterogeneous processors (XPUs) to accelerate different stages of algorithm modules. However, existing runtime systems for these applications, such as ROS, can only perform…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
The technologies of heterogeneous multi-core architectures, co-location, and virtualization can be used to reduce server power consumption and improve system utilization, which are three important technologies for data centers. This article…