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While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…
Effective human-robot interaction requires emotionally rich multimodal expressions, yet most humanoid robots lack coordinated speech, facial expressions, and gestures. Meanwhile, real-world deployment demands on-device solutions that can…
Autonomous mobile robots deployed in urban environments must be context-aware, i.e., able to distinguish between different semantic entities, and robust to occlusions. Current approaches like semantic scene completion (SSC) require…
The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…
Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional…
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…
Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…
Understanding manipulation scenarios allows intelligent robots to plan for appropriate actions to complete a manipulation task successfully. It is essential for intelligent robots to semantically interpret manipulation knowledge by…
Navigational signs enable humans to navigate unfamiliar environments without maps. This work studies how robots can similarly exploit signs for mapless navigation in the open world. A central challenge lies in interpreting signs: real-world…
Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…
Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems' complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
In Augmented Reality (AR) environment, realistic interactions between the virtual and real objects play a crucial role in user experience. Much of recent advances in AR has been largely focused on developing geometry-aware environment, but…
Robots with a high level of autonomy are increasingly requested by smart industries. A way to reduce the workers' stress and effort is to optimize the working environment by taking advantage of autonomous collaborative robots. A typical…
Traditional AI-planning methods for task planning in robotics require a symbolically encoded domain description. While powerful in well-defined scenarios, as well as human-interpretable, setting this up requires substantial effort.…
Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorithms by attaching semantics to locations. The system…
In recent years, developing AI for robotics has raised much attention. The interaction of vision and language of robots is particularly difficult. We consider that giving robots an understanding of visual semantics and language semantics…
The most common way for robots to handle environmental information is by using maps. At present, each kind of data is hosted on a separate map, which complicates planning because a robot attempting to perform a task needs to access and…
Ensuring the functional correctness and safety of autonomous vehicles is a major challenge for the automotive industry. However, exhaustive physical test drives are not feasible, as billions of driven kilometers would be required to obtain…
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…