Related papers: Latency vs precision: Stability preserving percept…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
We revisit the online dynamic acknowledgment problem. In the problem, a sequence of requests arrive over time to be acknowledged, and all outstanding requests can be satisfied simultaneously by one acknowledgement. The goal of the problem…
Multi-robot systems performing continuous tasks face a performance trade-off when interrupted by urgent, time-critical sub-tasks. We investigate this trade-off in a scenario where a team must balance area patrolling with locating an…
Robots are increasingly being used in dynamic environments like workplaces, hospitals, and homes. As a result, interactions with robots must be simple and intuitive, with robots perception adapting efficiently to human-induced changes. This…
Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…
Achieving super-human performance in recognizing human speech has been a goal for several decades, as researchers have worked on increasingly challenging tasks. In the 1990's it was discovered, that conversational speech between two humans…
This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…
In this paper, we consider contention resolution algorithms that are augmented with predictions about the network. We begin by studying the natural setup in which the algorithm is provided a distribution defined over the possible network…
Bridging the past to the future, connecting agents both spatially and temporally, lies at the core of the trajectory prediction task. Despite great efforts, it remains challenging to explicitly learn and predict latencies, i.e., response…
Conversational agents commonly utilize keyword spotting (KWS) to initiate voice interaction with the user. For user experience and privacy considerations, existing approaches to KWS largely focus on accuracy, which can often come at the…
We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
Robot evaluations in language-guided, real world settings are time-consuming and often sample only a small space of potential instructions across complex scenes. In this work, we introduce contrast sets for robotics as an approach to make…
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
Perception contracts provide a method for evaluating safety of control systems that use machine learning for perception. A perception contract is a specification for testing the ML components, and it gives a method for proving end-to-end…
While $\mathcal{H}_\infty$ methods can introduce robustness against worst-case perturbations, their nominal performance under conventional stochastic disturbances is often drastically reduced. Though this fundamental tradeoff between…
Traditionally, the delay margin of a looped system is computed by considering both the controller and system representations that evolve in the same space (e.g. either continuous or discrete-time). However, as in practice the system is…
Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual agents, the difference in the positions in aligned coordinate…
In this chapter, we study the consistency of the value of information$\unicode{x2014}$a semantic metric that claims to determine the right piece of information in networked control systems tasks$\unicode{x2014}$in a lossy and delayed…