Related papers: LAAIR: A Layered Architecture for Autonomous Inter…

We argue that the direct experimental approaches to elucidate the architecture of higher brains may benefit from insights gained from exploring the possibilities and limits of artificial control architectures for robot systems. We present…

As robotic systems become increasingly complex, the need for explainable decision-making becomes critical. Existing explainability approaches in robotics typically either focus on individual modules, which can be difficult to query from the…

With growing system complexity and closer cyber-physical interaction, there are increasingly stronger dependencies between different function and architecture layers in automotive systems. This paper first introduces several cross-layer…

Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…

This paper presents a new architecture called FAIS for imple- menting intelligent agents cooperating in a special Multi Agent environ- ment, namely the RoboCup Rescue Simulation System. This is a layered architecture which is customized for…

As robots become more adaptable, responsive, and capable of interacting with humans, the design of effective human-robot collaboration becomes critical. Yet, this design process is typically led by monodisciplinary approaches, often…

The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…

In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…

Collaborative human activities are grounded in social and moral norms, which humans consciously and subconsciously use to guide and constrain their decision-making and behavior, thereby strengthening their interactions and preventing…

We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…

AI technologies, including deep learning, large-language models have gone from one breakthrough to the other. As a result, we are witnessing growing excitement in robotics at the prospect of leveraging the potential of AI to tackle some of…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The…

Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage…

Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…

Legged locomotion is widespread in nature and has inspired the design of current robots. The controller of these legged robots is often realized as one centralized instance. However, in nature, control of movement happens in a hierarchical…

Advances in robotics have been driving the development of human-robot interaction (HRI) technologies. However, accurately perceiving human actions and achieving adaptive control remains a challenge in facilitating seamless coordination…

While robots are increasingly integrated into the built environment, little is known how their qualities can meaningfully influence our spaces to facilitate enjoyable and agreeable interaction, rather than robotic settings that are driven…

Layered architectures have been widely used in robot systems. The majority of them implement planning and execution functions in separate layers. However, there still lacks a straightforward way to transit high-level tasks in the planning…

The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…