Related papers: Formally Verified Animation for RoboChart using In…
This paper presents INGRESS, a robot system that follows human natural language instructions to pick and place everyday objects. The core issue here is the grounding of referring expressions: infer objects and their relationships from input…
Auto2 is a recently introduced prover for the proof assistant Isabelle. It is designed to be both highly customizable from within Isabelle, and also have a powerful proof search mechanism. In this paper, we apply auto2 to the verification…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
The development of generalist robot manipulation policies has seen significant progress, driven by large-scale demonstration data across diverse environments. However, the high cost and inefficiency of collecting real-world demonstrations…
Most autonomous robotic agents use logic inference to keep themselves to safe and permitted behaviour. Given a set of rules, it is important that the robot is able to establish the consistency between its rules, its perception-based…
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…
In this paper, we propose a framework that enables a human teacher to shape a robot behaviour by interactively providing it with unlabeled instructions. We ground the meaning of instruction signals in the task-learning process, and use them…
Runtime verification consists in observing and collecting the execution traces of a system and checking them against a specification, with the objective of raising an error when a trace does not satisfy the specification. We consider…
Optimizing and refining action execution through exploration and interaction is a promising way for robotic manipulation. However, practical approaches to interaction-driven robotic learning are still underexplored, particularly for…
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…
Intelligent inspection robots are widely used in substation patrol inspection, which can help check potential safety hazards by patrolling the substation and sending back scene images. However, when patrolling some marginal areas with weak…
As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human robot collaboration (HRC), behaviours…
Thanks to its graphical notation and simplicity, Unified Modeling Language (UML) is a de facto standard and a widespread language used in both industry and academia, despite the fact that its semantics is still informal. The Interaction…
Behavior Trees (BTs) have found a widespread adoption in robotics due to appealing features, their ease of use as a conceptual model of control policies and the availability of software tooling for BT-based design of control software.…
Physical interactions can often help reveal information that is not readily apparent. For example, we may tug at a table leg to evaluate whether it is built well, or turn a water bottle upside down to check that it is watertight. We propose…
Using probabilities in the formal-methods-based development of safety-critical software has quickened interests in academia and industry. We address this area by our model-driven engineering method for reactive systems SPACE and its…
This paper provides a fully abstract semantics for value-passing CCS for trees (VCCTS). The operational semantics is given both in terms of a reduction semantics and in terms of a labelled transition semantics. The labelled transition…
In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…
The interleaving semantics is not compatible with both action refinement and durational actions. Since many true concurrency semantics are congruent w.r.t. action refinement, notably the causality and the maximality ones, this has…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…