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Constraint-based optimization is a cornerstone of robotics, enabling the design of controllers that reliably encode task and safety requirements such as collision avoidance or formation adherence. However, handcrafted constraints can fail…
A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been…
The digital transformation of automation places new demands on data acquisition and processing in industrial processes. Logical relationships between acquired data and cyclic process sequences must be correctly interpreted and evaluated. To…
Zero-shot generalization across various robots, tasks and environments remains a significant challenge in robotic manipulation. Policy code generation methods use executable code to connect high-level task descriptions and low-level action…
Robots are notoriously difficult to design because of complex interdependencies between their physical structure, sensory and motor layouts, and behavior. Despite this, almost every detail of every robot built to date has been manually…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
Many software systems originate as prototypes or minimum viable products (MVPs), developed with an emphasis on delivery speed and responsiveness to changing requirements rather than long-term code maintainability. While effective for rapid…
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…
With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing and computational resources enabling them to track a…
Automated code generation remains a persistent challenge in software engineering, as conventional multi-agent frameworks are often constrained by static planning, isolated execution, high computational overhead, and limited adaptability to…
Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…
A common concern in experimental research is the auditability and reproducibility of experiments. Experiments are usually designed, provisioned, managed, and analyzed by diverse teams of specialists (e.g., researchers, technicians and…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
Data scarcity remains a fundamental challenge in robot learning. While human demonstrations benefit from abundant motion capture data and vast internet resources, robotic manipulation suffers from limited training examples. To bridge this…
Vibe Coding (VC) is a form of software development assisted by generative AI, in which developers describe the intended functionality or logic via natural language prompts, and the AI system generates the corresponding source code. VC can…
When designing correct-by-construction controllers for autonomous collectives, three key challenges are the task specification, the modelling, and its use at practical scale. In this paper, we focus on a simple yet useful abstraction for…
We develop a dynamical systems approach to prioritizing and selecting multiple recurring tasks with the aim of conferring a degree of deliberative goal selection to a mobile robot confronted with competing objectives. We take navigation as…
Robots are unrelentingly used to achieve operational efficiency in Industry 4.0 along with symbiotic and sustainable assistance for the work-force in Industry 5.0. As resilience, robustness, and well-being are required in anti-fragile…