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Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
With more and more digital media, especially in the field of virtual reality where detailed and convincing scenes are much required, procedural scene generation is a big helping tool for artists. A problem is that defining scene…
Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…
The StarL programming framework aims to simplify development of distributed robotic applications by providing easy-to-use language constructs for communication and control. It has been used to develop applications such as formation control,…
Vision-Language-Action models (VLAs) mark a major shift in robot learning. They replace specialized architectures and task-tailored components of expert policies with large-scale data collection and setup-specific fine-tuning. In this…
Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…
Learning computer programming has been always challenging. Since the sixties of the last century, many researchers developed Visual Programming Languages (VPLs) to help in this regard. In this thesis, ten VPLs were specifically selected,…
Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…
High-quality visualizations are an essential part of robotics research, enabling clear communication of results through figures, animations, and demonstration videos. While Blender is a powerful and freely available 3D graphics platform,…
CLIPS is a rule-based programming language for building knowledge-driven applications, well suited for the complex task of coordinating autonomous robots. Inspired by the CLIPS-Executive originally developed for the lesser known Fawkes…
With Transformers achieving outstanding performance on individual remote sensing (RS) tasks, we are now approaching the realization of a unified model that excels across multiple tasks through multi-task learning (MTL). Compared to…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
Robots are a popular platform for introducing computing and artificial intelligence to novice programmers. However, programming state-of-the-art robots is very challenging, and requires knowledge of concurrency, operation safety, and…
The integration of large language models (LLMs) with embodied agents has improved high-level reasoning capabilities; however, a critical gap remains between semantic understanding and physical execution. While vision-language-action (VLA)…
The steep learning curve of formal technologies is a well-known barrier to the adoption of formal verification tools in industry. This paper presents VSCode-PVS, a modern integrated development environment for the Prototype Verification…
Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Navigating towards fully open language goals and exploring open scenes in an intelligent way have always raised significant challenges. Recently, Vision Language Models (VLMs) have demonstrated remarkable capabilities to reason with both…
Vision-language-action models (VLAs) have become increasingly popular in robot manipulation for their end-to-end design and remarkable performance. However, existing VLAs rely heavily on vision-language models (VLMs) that only support…