Related papers: Sketching Robot Programs On the Fly
Dual-arm robots play a crucial role in improving efficiency and flexibility in complex multitasking scenarios. While existing methods have achieved promising results in task planning, they often fail to fully optimize task parallelism,…
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…
Simulation-to-real is the task of training and developing machine learning models and deploying them in real settings with minimal additional training. This approach is becoming increasingly popular in fields such as robotics. However,…
Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected…
Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…
We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot…
This work-in-progress paper presents our work with a domain specific language (DSL) for tackling the issue of programming robots for small-sized batch production. We observe that as the complexity of assembly increases so does the…
In modern industrial settings with small batch sizes it should be easy to set up a robot system for a new task. Strategies exist, e.g. the use of skills, but when it comes to handling forces and torques, these systems often fall short. We…
Robots have inherently limited onboard processing, storage, and power capabilities. Cloud computing resources have the potential to provide significant advantages for robots in many applications. However, to make use of these resources,…
Recent large language models (LLMs) have demonstrated promising capabilities in modeling real-world knowledge and enhancing knowledge-based generation tasks. In this paper, we further explore the potential of using LLMs to aid in the design…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…
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)…
Traditional goal-oriented dialogue systems rely on various components such as natural language understanding, dialogue state tracking, policy learning and response generation. Training each component requires annotations which are hard to…
Recent advancements in Large Language Models have sparked interest in their potential for robotic task planning. While these models demonstrate strong generative capabilities, their effectiveness in producing structured and executable plans…
In paper describes the new logic programming language Delta, which have a many good properties. Delta-programs is p-computable, verifiable and can translation on other languages. Also we describe the Delta-methodology for constructing…
Building end-to-end task bots and maintaining their integration with new functionalities using minimal human efforts is a long-standing challenge in dialog research. Recently large language models (LLMs) have demonstrated exceptional…
As service robots become more capable of autonomous behaviors, it becomes increasingly important to consider how people communicate with a robot what task it should perform and how to do the task. Accordingly, there has been a rise in…
This paper presents an experimental study regarding the use of OpenAI's ChatGPT for robotics applications. We outline a strategy that combines design principles for prompt engineering and the creation of a high-level function library which…
This paper proposes a novel end-to-end architecture for task-oriented dialogue systems. It is based on a simple and practical yet very effective sequence-to-sequence approach, where language understanding and state tracking tasks are…
This paper introduces the human-curated PandasPlotBench dataset, designed to evaluate language models' effectiveness as assistants in visual data exploration. Our benchmark focuses on generating code for visualizing tabular data - such as a…