Related papers: A Road-map to Robot Task Execution with the Functi…
Service robots are envisioned to be adaptive to their working environment based on situational knowledge. Recent research focused on designing visual representation of knowledge graphs for expert users. However, how to generate an…
Programming by demonstration is a strategy to simplify the robot programming process for non-experts via human demonstrations. However, its adoption for bimanual tasks is an underexplored problem due to the complexity of hand coordination,…
The learning-from-observation (LfO) framework aims to map human demonstrations to a robot to reduce programming effort. To this end, an LfO system encodes a human demonstration into a series of execution units for a robot, which are…
This study follows many classical approaches to multi-object tracking (MOT) that model the problem using dynamic graphical data structures, and adapts this formulation to make it amenable to modern neural networks. Our main contributions in…
Knowledge graphs are often used to represent structured information in a flexible and efficient manner, but their use in situated dialogue remains under-explored. This paper presents a novel conversational model for human--robot interaction…
Operator learning is a rising field of scientific computing where inputs or outputs of a machine learning model are functions defined in infinite-dimensional spaces. In this paper, we introduce NEON (Neural Epistemic Operator Networks), an…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and task coverage, while relatively large…
A comprehensive representation of an image requires understanding objects and their mutual relationship, especially in image-to-graph generation, e.g., road network extraction, blood-vessel network extraction, or scene graph generation.…
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to navigate avoiding going through the personal spaces of the people surrounding them. Complying with social rules such as not getting in…
The requirement for autonomous robots to exhibit higher-level cognitive skills by planning and adapting in an ever-changing environment is indeed a great challenge for the AI community. Progress has been made in the automated planning…
In language-guided visual navigation, agents locate target objects in unseen environments using natural language instructions. For reliable navigation in unfamiliar scenes, agents should possess strong perception, planning, and prediction…
Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…
Robotic task planning in real-world environments requires not only object recognition but also a nuanced understanding of spatial relationships between objects. We present a spatial-relationship-aware dataset of nearly 1,000 robot-acquired…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
Reasoning about objects, relations, and physics is central to human intelligence, and a key goal of artificial intelligence. Here we introduce the interaction network, a model which can reason about how objects in complex systems interact,…
The convergence of robotics, advanced communication networks, and artificial intelligence (AI) holds the promise of transforming industries through fully automated and intelligent operations. In this work, we introduce a novel co-working…
Such human-assisting systems as robots need to correctly understand the surrounding situation based on observations and output the required support actions for humans. Language is one of the important channels to communicate with humans,…
Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…
To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with…