Related papers: Manipulation of Articulated Objects using Dual-arm…
Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual affordance learning or other pre-trained visual models to guide…
This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…
Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting…
Answer Set Programming (ASP) is a widely used declarative programming paradigm that has shown great potential in solving complex computational problems. However, the inability to natively support non-integer arithmetic has been highlighted…
Answer Set Programming (ASP) is a popular declarative reasoning and problem solving approach in symbolic AI. Its rule-based formalism makes it inherently attractive for explainable and interpretive reasoning, which is gaining importance…
Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…
Robots assisting humans in complex domains have to represent knowledge and reason at both the sensorimotor level and the social level. The architecture described in this paper couples the non-monotonic logical reasoning capabilities of a…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
For widespread deployment in domains characterized by partial observability, non-deterministic actions and unforeseen changes, robots need to adapt sensing, processing and interaction with humans to the tasks at hand. While robots typically…
Answer Set Programming (ASP) is a truly-declarative programming paradigm proposed in the area of non-monotonic reasoning and logic programming, that has been recently employed in many applications. The development of efficient ASP systems…
In this work, we propose Answer-Set Programming (ASP) as a tool for rapid prototyping of dynamic programming algorithms based on tree decompositions. In fact, many such algorithms have been designed, but only a few of them found their way…
The interest in explainability in artificial intelligence (AI) is growing vastly due to the near ubiquitous state of AI in our lives and the increasing complexity of AI systems. Answer-set Programming (ASP) is used in many areas, among them…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
Many high precision (dis)assembly tasks are still being performed by humans, whereas this is an ideal opportunity for automation. This paper provides a framework which enables a non-expert human operator to teach a robotic arm to do complex…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
This paper presents a novel approach to automated stripboard circuit layout design using Answer Set Programming (ASP). The work formulates the layout problem as both a synthesis and multi-objective optimization task that simultaneously…
In our daily lives and industrial settings, we often encounter dynamic problems that require reasoning over time and metric constraints. These include tasks such as scheduling, routing, and production sequencing. Dynamic logics have…
Answer Set Programming (ASP) is a powerful modeling formalism for combinatorial problems. However, writing ASP models is not trivial. We propose a novel method, called Sketched Answer Set Programming (SkASP), aiming at supporting the user…
Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of…
Assumption-based argumentation (ABA) is a central structured argumentation formalism. As shown recently, answer set programming (ASP) enables efficiently solving NP-hard reasoning tasks of ABA in practice, in particular in the commonly…