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The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
Many solutions tailored for intuitive visualization or teleoperation of virtual, augmented and mixed (VAM) reality systems are not robust to robot failures, such as the inability to detect and recognize objects in the environment or…
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…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
The evaluation of object detection models is usually performed by optimizing a single metric, e.g. mAP, on a fixed set of datasets, e.g. Microsoft COCO and Pascal VOC. Due to image retrieval and annotation costs, these datasets consist…
As end-to-end robotic policies are progressively deployed in the real world to solve real tasks, they face a gap between the training and inference conditions. Scaling the amount and diversity of the training data has shown some success in…
Designing robotic systems to act autonomously in unforeseen environments is a challenging task. This work presents a novel approach to use formal verification, specifically Statistical Model Checking (SMC), to verify system properties of…
Planar object tracking is an actively studied problem in vision-based robotic applications. While several benchmarks have been constructed for evaluating state-of-the-art algorithms, there is a lack of video sequences captured in the wild…
Unsupervised physical parameter estimation from video lacks a common benchmark: existing methods evaluate on non-overlapping synthetic data, the sole real-world dataset is restricted to single-body systems, and no established protocol…
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
A defining characteristic of intelligent systems is the ability to make action decisions based on the anticipated outcomes. Video prediction systems have been demonstrated as a solution for predicting how the future will unfold visually,…
Multi-Object Tracking (MOT) is one of the most fundamental computer vision tasks that contributes to various video analysis applications. Despite the recent promising progress, current MOT research is still limited to a fixed sampling frame…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…
The presence of robots amongst pedestrians affects them causing deviation to their trajectories. Existing methods suffer from the limitation of not being able to objectively measure this deviation in unseen cases. In order to solve this…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…
Safety and reliability play a crucial role when designing Robotic Autonomous Systems (RAS). Early consideration of hazards, risks and mitigation actions -- already in the concept study phase -- are important steps in building a solid…
Runtime verification is checking whether a system execution satisfies or violates a given correctness property. A procedure that automatically, and typically on the fly, verifies conformance of the system's behavior to the specified…
This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot…