Related papers: Understanding Xacro Misunderstandings
Nowadays, the construction of a complex robotic system requires a high level of specialization in a large number of diverse scientific areas. It is reasonable that a single researcher cannot create from scratch the entirety of this system,…
With the growing capabilities of intelligent systems, the integration of robots in our everyday life is increasing. However, when interacting in such complex human environments, the occasional failure of robotic systems is inevitable. The…
Navigation is a must-have skill for any mobile robot. A core challenge in navigation is the need to account for an ample number of possible configurations of environment and navigation contexts. We claim that a mobile robot should be able…
Although healthcare is a remarkably sensitive domain of application, and systems that exert direct control over the world can cause harm in a way that humans cannot necessarily correct or oversee, it is still unclear whether and how…
As robots interact with a broader range of end-users, end-user robot programming has helped democratize robot programming by empowering end-users who may not have experience in robot programming to customize robots to meet their individual…
Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based…
Automated techniques such as model checking have been used to verify models of robotic mission plans based on Markov decision processes (MDPs) and generate counterexamples that may help diagnose requirement violations. However, such…
Research into explainable artificial intelligence (XAI) for data analysis tasks suffer from a large number of contradictions and lack of concrete design recommendations stemming from gaps in understanding the tasks that require AI…
We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which limits their adaptability across diverse applications. In…
The physical design of a robot suggests expectations of that robot's functionality for human users and collaborators. When those expectations align with the true capabilities of the robot, interaction with the robot is enhanced. However,…
XML database query languages such as XQuery employ regular expression types with structural subtyping. Subtyping systems typically have two presentations, which should be equivalent: a declarative version in which the subsumption rule may…
Artificial Intelligence (AI) is one of the major technological advancements of this century, bearing incredible potential for users through AI-powered applications and tools in numerous domains. Being often black-box (i.e., its…
As big data grows ubiquitous across many domains, more and more stakeholders seek to develop Machine Learning (ML) applications on their data. The success of an ML application usually depends on the close collaboration of ML experts and…
There has recently been a surge of work in explanatory artificial intelligence (XAI). This research area tackles the important problem that complex machines and algorithms often cannot provide insights into their behavior and thought…
This paper presents a novel framework for accessible and pedagogically-grounded robot explainability, designed to support human-robot interaction (HRI) with users who have diverse cognitive, communicative, or learning needs. We combine…
In an era where autonomous robots increasingly inhabit public spaces, the imperative for transparency and interpretability in their decision-making processes becomes paramount. This paper presents the overview of a Robotic eXplanation and…
As Machine Learning models achieve unprecedented levels of performance, the XAI domain aims at making these models understandable by presenting end-users with intelligible explanations. Yet, some existing XAI approaches fail to meet…
In the design of user-friendly robots, human communication should be understood by the system beyond mere logics and literal meaning. Robot communication-design has long ignored the importance of communication and politeness rules that are…
Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for…
Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within the field of view, leading to failures in task execution. For…