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Human-Object Interaction (HOI) detection devotes to learn how humans interact with surrounding objects via inferring triplets of < human, verb, object >. However, recent HOI detection methods mostly rely on additional annotations (e.g.,…

We introduce OpSets, an executable framework for specifying and reasoning about the semantics of replicated datatypes that provide eventual consistency in a distributed system, and for mechanically verifying algorithms that implement these…

We present a system for generating and understanding of dynamic and static spatial relations in robotic interaction setups. Robots describe an environment of moving blocks using English phrases that include spatial relations such as…

In this paper we present a neurosymbolic architecture for coupling language-guided visual reasoning with robot manipulation. A non-expert human user can prompt the robot using unconstrained natural language, providing a referring expression…

For collaborative robots to become useful, end users who are not robotics experts must be able to instruct them to perform a variety of tasks. With this goal in mind, we developed a system for end-user creation of robust task plans with a…

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…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

Cartoons and animation domain videos have very different characteristics compared to real-life images and videos. In addition, this domain carries a large variability in styles. Current computer vision and deep-learning solutions often fail…

We show that interactive protocols between a prover and a verifier, a well-known tool of complexity theory, can be used in practice to certify the correctness of automated reasoning tools. Theoretically, interactive protocols exist for all…

Scenarios of execution are commonly used to specify partial behaviour and interactions between different objects and components in a system. To avoid overall inconsistency in specifications, various automated methods have emerged in the…

To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…

This paper proposes a new approach to animacy detection, the task of determining whether an entity is represented as animate in a text. In particular, this work is focused on atypical animacy and examines the scenario in which typically…

We introduce the novel task of interactive scene exploration, wherein robots autonomously explore environments and produce an action-conditioned scene graph (ACSG) that captures the structure of the underlying environment. The ACSG accounts…

Behavior Trees (BTs) are high level controllers that have found use in a wide range of robotics tasks. As they grow in popularity and usage, it is crucial to ensure that the appropriate tools and methods are available for ensuring they work…

Modularity is a central principle throughout the design process for cyber-physical systems. Modularity reduces complexity and increases reuse of behavior. In this paper we pose and answer the following question: how can we identify…

Robotics and Autonomous Systems are increasingly deployed in safety-critical domains, so that demonstrating their safety is essential. Assurance Cases (ACs) provide structured arguments supported by evidence, but generating and maintaining…

Software verification is an important tool in establishing the reliability of critical systems. One potential area of application is in the field of robotics, as robots take on more tasks in both day-to-day areas and highly specialised…

Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…

Many ecological and spatial processes are complex in nature and are not accurately modeled by linear models. Regression trees promise to handle the high-order interactions that are present in ecological and spatial datasets, but fail to…

Individualization-Refinement (IR) algorithms form the standard method and currently the only practical method for symmetry computations of graphs and combinatorial objects in general. Through backtracking, on each graph an IR-algorithm…