Related papers: Interactive Disambiguation for Behavior Tree Execu…
Defining sound and complete specifications for robots using formal languages is challenging, while learning formal specifications directly from demonstrations can lead to over-constrained task policies. In this paper, we propose a Bayesian…
The possibility to create reactive robot programs faster without the need for extensively trained programmers is becoming increasingly important. So far, it has not been explored how various techniques for creating Behavior Tree (BT)…
Robot manipulation tasks by natural language instructions need common understanding of the target object between human and the robot. However, the instructions often have an interpretation ambiguity, because the instruction lacks important…
Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…
In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…
Multi-Robot and Multi-Agent Systems demonstrate collective (swarm) intelligence through systematic and distributed integration of local behaviors in a group. Agents sharing knowledge about the mission and environment can enhance performance…
Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined on-site with a single language instruction to the robot. In…
Nowadays, the behavior tree is gaining popularity as a representation for robot tasks due to its modularity and reusability. Designing behavior-tree tasks manually is time-consuming for robot end-users, thus there is a need for…
Executing temporal plans in the real and open world requires adapting to uncertainty both in the environment and in the plan actions. A plan executor must therefore be flexible to dispatch actions based on the actual execution conditions.…
In this paper, we propose the Interactive Text2Pickup (IT2P) network for human-robot collaboration which enables an effective interaction with a human user despite the ambiguity in user's commands. We focus on the task where a robot is…
The utility of collocating robots largely depends on the easy and intuitive interaction mechanism with the human. If a robot accepts task instruction in natural language, first, it has to understand the user's intention by decoding the…
Enabling robots to accurately interpret and execute spoken language instructions is essential for effective human-robot collaboration. Traditional methods rely on speech recognition to transcribe speech into text, often discarding crucial…
As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…
The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
Behavior trees (BTs) are a popular method for modeling NPC and enemy AI behavior and have been widely used in commercial games. In this work, rather than use BTs to model game playing agents, we use them for modeling game design agents,…
In this project we trained a neural network to perform specific interactions between a robot and objects in the environment, through imitation learning. In particular, we tackle the task of moving the robot to a fixed pose with respect to a…
Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. However as initially implemented, behavior trees are static plans. This paper adds to recent literature exploring the…
We consider the problem of people search by a mobile social robot in case of a situation that cannot be solved by the robot alone. Examples are physically opening a closed door or operating an elevator. Based on the Behavior Tree framework,…
With the rising demand for flexible manufacturing, robots are increasingly expected to operate in dynamic environments where local -- such as slight offsets or size differences in workpieces -- are common. We propose to address the problem…
Explainability, in particular, the ability for robots to explain why they have made a decision or behaved in a certain way, is a critical tool in helping users understand the robots they interact and coexist with. Behaviour trees are a…