Related papers: Semantics for Robotic Mapping, Perception and Inte…
Robots that support humans by performing useful tasks (a.k.a., service robots) are booming worldwide. In contrast to industrial robots, the development of service robots comes with severe software engineering challenges, since they require…
For a robot to act intelligently, it needs to sense the world around it. Increasingly, robots build an internal representation of the world from sensor readings. This representation can then be used to inform downstream tasks, such as…
This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular…
This is a preprint of a review article that has not yet undergone peer review. The content is intended for early dissemination and academic discussion. The final version may differ upon formal publication. As the Fourth Industrial…
Within the realm of service robotics, researchers have placed a great amount of effort into learning, understanding, and representing motions as manipulations for task execution by robots. The task of robot learning and problem-solving is…
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact…
Semantic processing is a fundamental research domain in computational linguistics. In the era of powerful pre-trained language models and large language models, the advancement of research in this domain appears to be decelerating. However,…
The ability to update information acquired through various means online during task execution is crucial for a general-purpose service robot. This information includes geometric and semantic data. While SLAM handles geometric updates on 2D…
Recent advances in robotic mobile manipulation have spurred the expansion of the operating environment for robots from constrained workspaces to large-scale, human environments. In order to effectively complete tasks in these spaces, robots…
Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…
Robots are widely collaborating with human users in diferent tasks that require high-level cognitive functions to make them able to discover the surrounding environment. A difcult challenge that we briefy highlight in this short paper is…
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…
This paper addresses the problem of enabling a robot to search for a semantic object, i.e., an object with a semantic label, in an unknown and GPS-denied environment. For the robot in the unknown environment to detect and find the target…
One common and desirable application of robots is exploring potentially hazardous and unstructured environments. Air-ground collaboration offers a synergistic approach to addressing such exploration challenges. In this paper, we demonstrate…
Humans inhabit a world defined by interactions -- with other humans, objects, and environments. These interactive movements not only convey our relationships with our surroundings but also demonstrate how we perceive and communicate with…
Robots deployed in real-world environments, such as homes, must not only navigate safely but also understand their surroundings and adapt to changes in the environment. To perform tasks efficiently, they must build and maintain a semantic…
Nonverbal visual symbols and displays play an important role in communication when humans and robots work collaboratively. However, few studies have investigated how different types of non-verbal cues affect objective task performance,…
Spatial understanding is a crucial capability that enables robots to perceive their surroundings, reason about their environment, and interact with it meaningfully. In modern robotics, these capabilities are increasingly provided by…