Related papers: iRoPro: An interactive Robot Programming Framework
Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach - Intuitive…
We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and…
Recent works introduce general-purpose robot policies. These policies provide a strong prior over how robots should behave -- e.g., how a robot arm should manipulate food items. But in order for robots to match an individual person's needs,…
Robot skills systems are meant to reduce robot setup time for new manufacturing tasks. Yet, for dexterous, contact-rich tasks, it is often difficult to find the right skill parameters. One strategy is to learn these parameters by allowing…
Despite recent efforts to collect multi-task, multi-embodiment datasets, to design recipes for training Vision-Language-Action models (VLAs), and to showcase these models on different robot platforms, generalist cross-embodiment robot…
In this paper we present an open source educational robot, designed both to engage children in an affective and social interaction, and to be programmable also in its social and affective behaviour. Indeed the robot, in addition to classic…
Programming social robots is challenging for novice robot programmers due to required expertise in planning, interaction design, and programming. While large language models (LLMs) hold significant promise through code generation from…
As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…
The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…
Programming a robot to deal with open-ended tasks remains a challenge, in particular if the robot has to manipulate objects. Launching, grasping, pushing or any other object interaction can be simulated but the corresponding models are not…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
People who need robots are often not the same as people who can program them. This key observation in human-robot interaction (HRI) has lead to a number of challenges when developing robotic applications, since developers must understand…
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…
The ability to communicate with robots using natural language is a significant step forward in human-robot interaction. However, accurately translating verbal commands into physical actions is promising, but still presents challenges.…
Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are…
Programming industrial robots is not very intuitive, and the programmer has to be a domain expert for e.g. welding and programming to know how the task is optimally executed. For SMEs such employees are not affordable, nor cost-effective.…
This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of…
The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…
This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot programs using large language models (LLMs)…
The analysis, design and development of a graphical programming IDE for mini-robotic agents allows novice users to program robotic agents by a graphical drag and drop interface, without knowing the syntax and semantics of the intermediate…