Related papers: ROS Based Visual Programming Tool for Mobile Robot…
Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…
Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…
Visual Semantic Navigation (VSN) is the ability of a robot to learn visual semantic information for navigating in unseen environments. These VSN models are typically tested in those virtual environments where they are trained, mainly using…
The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past…
Vision-and-language navigation (VLN) is a long-standing challenge in autonomous robotics, aiming to empower agents with the ability to follow human instructions while navigating complex environments. Two key bottlenecks remain in this…
Vision-language navigation (VLN) has emerged as a promising paradigm, enabling mobile robots to perform zero-shot inference and execute tasks without specific pre-programming. However, current systems often separate map exploration and path…
Despite the rapid advancements in Multimodal Large Language Models (MLLMs), a critical question regarding their visual grounding mechanism remains unanswered: do these models genuinely ``read'' text embedded in images, or do they merely…
Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
Low-code development platforms provide an accessible infrastructure for the creation of software by domain experts, also called "citizen developers", without the need for formal programming education. Development is facilitated through…
In this paper, we introduce OpenVSLAM, a visual SLAM framework with high usability and extensibility. Visual SLAM systems are essential for AR devices, autonomous control of robots and drones, etc. However, conventional open-source visual…
Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…
Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…
Tools used for implementing visualization software systems can generally be divided into camps such as static versus interactive and desktop versus web-based. We contribute Pluot, an architecture that bridges these divides, enabling a…
In this paper, we argue that the next generation of robots can be commanded using only Language Models' prompts. Every prompt interrogates separately a specific Robotic Modality via its Modality Language Model (MLM). A central Task Modality…
For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such…
In this paper, an indoor robot localization system based on Robot Operating System (ROS) and visible light communication (VLC) is presented. On the basis of our previous work, we innovatively designed a VLC localization and navigation…
To utilize Foundation Vision Language Models (VLMs) for robotic tasks and motion planning, the community has proposed different methods for injecting action components into VLMs and building the Vision-Language-Action models (VLAs). In this…
Text-to-Visualization (Text2Vis) systems translate natural language queries over tabular data into concise answers and executable visualizations. While closed-source LLMs generate functional code, the resulting charts often lack semantic…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…