Related papers: Behavior Trees and State Machines in Robotics Appl…
Within machine learning, the supervised learning field aims at modeling the input-output relationship of a system, from past observations of its behavior. Decision trees characterize the input-output relationship through a series of nested…
Automating activities through robots in unstructured environments, such as construction sites, has been a long-standing desire. However, the high degree of unpredictable events in these settings has resulted in far less adoption compared to…
Behavior Trees are commonly used to model agents for robotics and games, where constrained behaviors must be designed by human experts in order to guarantee that these agents will execute a specific chain of actions given a specific set of…
In the task of automatic program synthesis, one obtains pairs of matching inputs and outputs and generates a computer program, in a particular domain-specific language (DSL), which given each sample input returns the matching output. A key…
Recent success of machine learning in many domains has been overwhelming, which often leads to false expectations regarding the capabilities of behavior learning in robotics. In this survey, we analyze the current state of machine learning…
In robotics, the use of Large Language Models (LLMs) is becoming prevalent, especially for understanding human commands. In particular, LLMs are utilized as domain-agnostic task planners for high-level human commands. LLMs are capable of…
Humans excel at applying learned behavior to unlearned situations. A crucial component of this generalization behavior is our ability to compose/decompose a whole into reusable parts, an attribute known as compositionality. One of the…
Mobile robots are being used on a large scale in various crowded situations and become part of our society. The socially acceptable navigation behavior of a mobile robot with individual human consideration is an essential requirement for…
Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the…
Large language models (LLMs) are increasingly used to model human social behavior, with recent research exploring their ability to simulate social dynamics. Here, we test whether LLMs mirror human behavior in social dilemmas, where…
Domain-specific languages (DSLs) play a crucial role in facilitating a wide range of software development activities in the context of model-driven engineering (MDE). However, a systematic understanding of their evolution is lacking, which…
Interacting with computers is a ubiquitous activity for millions of people. Repetitive or specialized tasks often require creation of small, often one-off, programs. End-users struggle with learning and using the myriad of domain-specific…
Recently, large language models (LLMs) have achieved widespread application across various fields. Despite their impressive capabilities, LLMs suffer from a lack of structured reasoning ability, particularly for complex tasks requiring…
We describe some progress towards a new common framework for model driven engineering, based on behavioral programming. The tool we have developed unifies almost all of the work done in behavioral programming so far, under a common set of…
Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…
Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for…
Robots are increasingly common in industry and daily life, such as in nursing homes where they can assist staff. A key challenge is developing intuitive interfaces for easy communication. The use of Large Language Models (LLMs) like GPT-4…
Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…
Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…
In previous research, we developed methods to train decision trees (DT) as agents for reinforcement learning tasks, based on deep reinforcement learning (DRL) networks. The samples from which the DTs are built, use the environment's state…