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The Industry 4.0 paradigm manifests the shift towards mass customization and cyber-physical production systems (CPPS) and sets new requirements for industrial automation software in terms of modularity, flexibility, and short development…
Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…
Domain-specific languages are becoming increasingly important. Almost every application touches multiple domains. But how to define, use, and combine multiple DSLs within the same application? The most common approach is to split the…
This paper introduces the new robot programming language LightRocks (Light Weight Robot Coding for Skills), a domain specific language (DSL) for robot programming. The language offers three different level of abstraction for robot…
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…
There is a gap between our ability to reuse high-level concepts in software design and our ability to reuse the code implementing them. Language Oriented Programming (LOP) is a software development paradigm that aims to close this gap,…
The development of domain-specific languages (DSLs) is a laborious and iterative process that seems to naturally lean to the use of generative artificial intelligence. We design and prototype DSL Assistant, a tool that integrates generative…
Domain-Specific Languages (DSLs) help practitioners in contributing solutions to challenges of specific domains. The efficient development of user-friendly DSLs suitable for industrial practitioners with little expertise in modelling still…
External or internal domain-specific languages (DSLs) or (fluent) APIs? Whoever you are -- a developer or a user of a DSL -- you usually have to choose your side; you should not! What about metamorphic DSLs that change their shape according…
The use of Large Language Models (LLMs) for generating Behavior Trees (BTs) has recently gained attention in the robotics community, yet remains in its early stages of development. In this paper, we propose a novel framework that leverages…
Security engineering, from security requirements engineering to the implementation of cryptographic protocols, is often supported by domain-specific languages (DSLs). Unfortunately, a lack of knowledge about these DSLs, such as which…
Using natural language to give instructions to robots is challenging, since natural language understanding is still largely an open problem. In this paper we address this problem by restricting our attention to commands modeled as one…
Behavior Trees (BT) are becoming increasingly popular in the robotics community. The BT tool is well suited for decision-making applications allowing a robot to perform complex behavior while being explainable to humans as well. Verifying…
In this paper, we propose an approach that combines Vision Language Models (VLMs) and Behavior Trees (BTs) to address failures in robotics. Current robotic systems can handle known failures with pre-existing recovery strategies, but they…
In industrial applications Finite State Machines (FSMs) are often used to implement decision making policies for autonomous systems. In recent years, the use of Behavior Trees (BT) as an alternative policy representation has gained…
For a robot to be called socially intelligent, it must be able to infer users internal states from their current behaviour, predict the users future behaviour, and if required, respond appropriately. In this work, we investigate how robots…
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…
When trained on language data, do transformers learn some arbitrary computation that utilizes the full capacity of the architecture or do they learn a simpler, tree-like computation, hypothesized to underlie compositional meaning systems…
While application software does the real work, domain-specific languages (DSLs) are tools to help produce it efficiently, and language design assistants in turn are meta-tools to help produce DSLs quickly. DSLs are already in wide use (HTML…
Behavior Trees (BTs) provide a structured and reactive framework for decision-making, commonly used to switch between sub-controllers based on environmental conditions. Reinforcement Learning (RL), on the other hand, can learn near-optimal…