Related papers: ProbRobScene: A Probabilistic Specification Langua…

As multiple robots are expected to coexist in future households, natural language is increasingly envisioned as a primary medium for human-robot and robot-robot communication. This paper introduces the concept of a Natural Language…

Robots that can manipulate objects in unstructured environments and collaborate with humans can benefit immensely by understanding natural language. We propose a pipelined architecture of two stages to perform spatial reasoning on the text…

Latest research in industrial robotics is aimed at making human robot collaboration possible seamlessly. For this purpose, industrial robots are expected to work on the fly in unstructured and cluttered environments and hence the subject of…

Collaborative robots must quickly adapt to their partner's intent and preferences to proactively identify helpful actions. This is especially true in situated settings where human partners can continually teach robots new high-level…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…

Synchronous modeling is at the heart of programming languages like Lustre, Esterel, or Scade used routinely for implementing safety critical control software, e.g., fly-by-wire and engine control in planes. However, to date these languages…

Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient…

Learning from Demonstration is increasingly used for transferring operator manipulation skills to robots. In practice, it is important to cater for limited data and imperfect human demonstrations, as well as underlying safety constraints.…

Natural language provides a widely accessible and expressive interface for robotic agents. To understand language in complex environments, agents must reason about the full range of language inputs and their correspondence to the world.…

Language-based environment manipulation requires agents to manipulate the environment following natural language instructions, which is challenging due to the huge space of the environments. To address this challenge, various approaches…

Language-conditioned policies have recently gained substantial adoption in robotics as they allow users to specify tasks using natural language, making them highly versatile. While much research has focused on improving the action…

Understanding the 3D world from 2D images involves more than detection and segmentation of the objects within the scene. It also includes the interpretation of the structure and arrangement of the scene elements. Such understanding is often…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

Scientists often run experiments to distinguish competing theories. This requires patience, rigor, and ingenuity - there is often a large space of possible experiments one could run. But we need not comb this space by hand - if we represent…

Modern robots can perform a wide range of simple tasks and adapt to diverse scenarios in the well-trained environment. However, deploying pre-trained robot models in real-world user scenarios remains challenging due to their limited…

3D scene generation conditioned on text prompts has significantly progressed due to the development of 2D diffusion generation models. However, the textual description of 3D scenes is inherently inaccurate and lacks fine-grained control…

The ability to construct concise scene representations from sensor input is central to the field of robotics. This paper addresses the problem of robustly creating a 3D representation of a tabletop scene from a segmented RGB-D image. These…

Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…

We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and…