Related papers: MOSAIC: Modular Foundation Models for Assistive an…
Massive Online Open Courses (MOOCs) which were introduced in 2008 has since drawn attention around the world for both its advantages as well as criticism on its drawbacks. One of the issues in MOOCs which is the lack of interactivity with…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Mixture-of-Experts (MoE) approaches have recently gained traction in robotics applications due to their ability to dynamically allocate computational resources and specialize sub-networks for distinct tasks or environmental contexts,…
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…
It is important for socially assistive robots to be able to recognize when a user needs and wants help. Such robots need to be able to recognize human needs in a real-time manner so that they can provide timely assistance. We propose an…
Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…
Rapid advancements in foundation models, including Large Language Models, Vision-Language Models, Multimodal Large Language Models, and Vision-Language-Action Models, have opened new avenues for embodied AI in mobile service robotics. By…
Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…
Safety is one of the most fundamental aspects of robotics, especially when it comes to collaborative robots (cobots) that are expected to physically interact with humans. Although a large body of literature has focused on safety-related…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
This paper investigates robot manipulation based on human instruction with ambiguous requests. The intent is to compensate for imperfect natural language via visual observations. Early symbolic methods, based on manually defined symbols,…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Advances in robotic automation, high-performance computing (HPC), and artificial intelligence (AI) encourage us to conceive of science factories: large, general-purpose computation- and AI-enabled self-driving laboratories (SDLs) with the…
As Moore's Law has slowed and Dennard Scaling has ended, architects are increasingly turning to heterogeneous parallelism and domain-specific hardware-software co-designs. These trends present new challenges for simulation-based performance…
We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordingly, a mobile manipulation task is represented by altering…
We present a generalised architecture for reactive mobile manipulation while a robot's base is in motion toward the next objective in a high-level task. By performing tasks on-the-move, overall cycle time is reduced compared to methods…
Software development for service robotics is inherently complex. Even a single robot requires the composition of several sensors, actuators, and software modules. The systems are usually developed by groups of domain experts, rarely…
Mobile manipulation in robotics is challenging due to the need of solving many diverse tasks, such as opening a door or picking-and-placing an object. Typically, a basic first-principles system description of the robot is available, thus…
Collaborative robots must quickly adapt to their partner's intent and preferences to proactively identify helpful actions. This is especially true in situated settings where human partners can continually teach robots new high-level…
A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…