Related papers: Simplifying Robot Programming using Augmented Real…
The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…
Augmented Reality (AR) offers powerful visualization capabilities for industrial robot training, yet current interfaces remain predominantly static, failing to account for learners' diverse cognitive profiles. In this paper, we present an…
Real-world robotic tasks require complex reward functions. When we define the problem the robot needs to solve, we pretend that a designer specifies this complex reward exactly, and it is set in stone from then on. In practice, however,…
Answer Set Programming (ASP) is a well-established declarative problem solving paradigm which became widely used in AI and recognized as a powerful tool for knowledge representation and reasoning (KRR), especially for its high…
This paper introduces REMS, a robotics middleware and control framework that is designed to introduce the Zen of Python to robotics and to improve robotics education and development flow. Although existing middleware can serve hardware…
Augmented reality (AR) offers promising opportunities to support movement-based activities, such as personal training or physical therapy, with real-time, spatially-situated visual cues. While many approaches leverage AR to guide motion,…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
Many real-world tasks are intuitive for a human to perform, but difficult to encode algorithmically when utilizing a robot to perform the tasks. In these scenarios, robotic systems can benefit from expert demonstrations to learn how to…
Generative design, an AI-assisted technology for optimizing design through algorithmic processes, is propelling advancements across numerous fields. As the use of immersive environments such as Augmented Reality (AR) continues to rise,…
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…
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,…
End-user development,where non-programmers create or adapt their own digital tools, can play a key role in driving digital transformation within organizations. Currently, low-code/no-code platforms are widely used to enable end-user…
As a result of an increasingly automatized and digitized industry, processes are becoming more complex. Augmented Reality has shown considerable potential in assisting workers with complex tasks by enhancing user understanding and…
Novel end-user programming (EUP) tools enable on-the-fly (i.e., spontaneous, easy, and rapid) creation of interactions with robotic systems. These tools are expected to empower users in determining system behavior, although very little is…
In immersive augmented reality (IAR), users can wear a head-mounted display to see computer-generated images superimposed to their view of the world. IAR was shown to be beneficial across several domains, e.g., automotive, medicine, gaming…
Robots are experiencing a revolution as they permeate many aspects of our daily lives, from performing house maintenance to infrastructure inspection, from efficiently warehousing goods to autonomous vehicles, and more. This technical…
Interactive reinforcement learning, where humans actively assist during an agent's learning process, has the promise to alleviate the sample complexity challenges of practical algorithms. However, the inner workings and state of the robot…
Current robot interfaces such as teach pendants and 2D screen displays used for task visualization and interaction often seem unintuitive and limited in terms of information flow. This compromises task efficiency as interacting with the…
Understanding how robots plan and execute tasks is crucial in today's world, where they are becoming more prevalent in our daily lives. However, teaching non-experts, such as K-12 students, the complexities of robot planning can be…
We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal…