Related papers: LAAIR: A Layered Architecture for Autonomous Inter…
In the last years, several hierarchical frameworks have been proposed to deal with highly-redundant robotic systems. Some of that systems are expected to perform multiple tasks and physically to interact with the environment. However, none…
We introduce Robix, a unified model that integrates robot reasoning, task planning, and natural language interaction within a single vision-language architecture. Acting as the high-level cognitive layer in a hierarchical robot system,…
Complex robot behaviour typically requires the integration of multiple robotic and Artificial Intelligence (AI) techniques and components. Integrating such disparate components into a coherent system, while also ensuring global properties…
For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspable objects. However, prior works on non-prehensile…
Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…
Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid robots, memory also plays a critical role in fostering…
Despite growing interest in active inference for robotic control, its application to complex, long-horizon tasks remains untested. We address this gap by introducing a fully hierarchical active inference architecture for goal-directed…
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…
We propose a hierarchical framework for collaborative intelligent systems. This framework organizes research challenges based on the nature of the collaborative activity and the information that must be shared, with each level building on…
Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…
When robots interact with human partners, often these partners change their behavior in response to the robot. On the one hand this is challenging because the robot must learn to coordinate with a dynamic partner. But on the other hand --…
We present a system enabling a modular robot to autonomously build structures in order to accomplish high-level tasks. Building structures allows the robot to surmount large obstacles, expanding the set of tasks it can perform. This…
Nowadays, we are dealing more and more with robots and AI in everyday life. However, their behavior is not always apparent to most lay users, especially in error situations. As a result, there can be misconceptions about the behavior of the…
AI Agents powered by Large Language Models are transforming the world through enormous applications. A super agent has the potential to fulfill diverse user needs, such as summarization, coding, and research, by accurately understanding…
Humanoid robots will be able to assist humans in their daily life, in particular due to their versatile action capabilities. However, while these robots need a certain degree of autonomy to learn and explore, they also should respect…
Integrating robotics into everyday scenarios like tutoring or physical training requires robots capable of adaptive, socially engaging, and goal-oriented interactions. While Large Language Models show promise in human-like communication,…
The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…
An approach to robotics called layered evolution and merging features from the subsumption architecture into evolutionary robotics is presented, and its advantages are discussed. This approach is used to construct a layered controller for a…
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…