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Robots are becoming ever more autonomous. This expanding ability to take unsupervised decisions renders it imperative that mechanisms are in place to guarantee the safety of behaviours executed by the robot. Moreover, smart autonomous…
While assistive robots have much potential to help older people with frailty-related needs, there are few in use. There is a gap between what is developed in laboratories and what would be viable in real-world contexts. Through a series of…
The ability to leverage heterogeneous robotic experience from different robots and tasks to quickly master novel skills and embodiments has the potential to transform robot learning. Inspired by recent advances in foundation models for…
Our hypothesis is that by equipping certain agents in a multi-agent system controlling an intelligent building with automated decision support, two important factors will be increased. The first is energy saving in the building. The second…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
Robotic hardware designs are becoming more complex as the variety and number of on-board sensors increase and as greater computational power is provided in ever-smaller packages on-board robots. These advances in hardware, however, do not…
Intelligent control of RF transceivers adapting to dynamic operational conditions is essential in the modern and future communication systems. We propose a multi-agent neurosymbolic AI system, where AI agents are assigned for circuit…
Autonomous systems will play an essential role in many applications across diverse domains including space, marine, air, field, road, and service robotics. They will assist us in our daily routines and perform dangerous, dirty and dull…
Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional…
Robotic manipulation and control has increased in importance in recent years. However, state of the art techniques still have limitations when required to operate in real world applications. This paper explores Hindsight Experience Replay…
As artificial intelligence continues to advance and becomes more integrated into sensitive areas like healthcare, education, and everyday life, it's crucial for these systems to be both resilient and robust. This paper shows how resilience…
The current advancement in and deployment of agentic AI systems has created a set of key challenges for the legal frameworks that govern their use. We cover two central components: first, the regulatory classification of agents under the EU…
Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware, robots are still not endowed with desirable relational…
To bring robots into human everyday life, their capacity for social interaction must increase. One way for robots to acquire social skills is by assigning them the concept of identity. This research focuses on the concept of…
Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Developing adaptable, extensible, and accurate task bots with minimal or zero human intervention is a significant challenge in dialog research. This thesis examines the obstacles and potential solutions for creating such bots, focusing on…