Related papers: FlowAct: A Proactive Multimodal Human-robot Intera…
Open-loop end-to-end neural motion planners have recently been proposed to improve motion planning for robotic manipulators. These methods enable planning directly from sensor observations without relying on a privileged collision checker…
Recent Vision-Language-Action (VLA) models equipped with Flow Matching (FM) action heads achieve state-of-the-art performance in complex robot manipulation. However, the multi-step iterative ODE solving required by FM introduces inference…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…
How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting…
Effective error detection is crucial to prevent task disruption and maintain user trust. Traditional methods often rely on task-specific models or user reporting, which can be inflexible or slow. Recent research suggests social signals,…
Humans understand and interact with the real world by relying on diverse physical feedback beyond visual perception. Motivated by this, recent approaches attempt to incorporate physical sensory signals into Vision-Language-Action models…
An agent, artificial or human, must be continuously adjusting its behaviour in order to thrive in a more or less demanding environment. An artificial agent with the ability to predict human emotional valence in a geospatial and temporal…
Trajectory planning is crucial in multi-robot systems, particularly in environments with numerous obstacles. While extensive research has been conducted in this field, the challenge of coordinating multiple robots to flow collectively from…
Diffusion models have revolutionized imitation learning, allowing robots to replicate complex behaviours. However, diffusion often relies on cameras and other exteroceptive sensors to observe the environment and lacks long-term memory. In…
Advanced service robots require superior tactile intelligence to guarantee human-contact safety and to provide essential supplements to visual and auditory information for human-robot interaction, especially when a robot is in physical…
Flowchart-oriented dialogue (FOD) systems aim to guide users through multi-turn decision-making or operational procedures by following a domain-specific flowchart to achieve a task goal. In this work, we formalize flowchart reasoning in FOD…
Although LLMs demonstrate proficiency in several text-based reasoning and planning tasks, their implementation in robotics control is constrained by significant deficiencies: (1) LLM agents are designed to work mainly with textual inputs…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
While autonomous driving technology has made remarkable strides, data-driven approaches still struggle with complex scenarios due to their limited reasoning capabilities. Meanwhile, knowledge-driven autonomous driving systems have evolved…
Reliable navigation systems have a wide range of applications in robotics and autonomous driving. Current approaches employ an open-loop process that converts sensor inputs directly into actions. However, these open-loop schemes are…
Achieving rapid and effective active collision avoidance in dynamic interactive traffic remains a core challenge for autonomous driving. This paper proposes REACT (Runtime-Enabled Active Collision-avoidance Technique), a closed-loop…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
Interaction between humanoids involves bidirectional and nonverbal reactivity, coordination and synchrony. Toward socially aware robots and interactive virtual agents, we present SalsaAgent, a language model that generates expressive,…
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, flexible tactile sensor pads that…
Transformers have revolutionized vision and natural language processing with their ability to scale with large datasets. But in robotic manipulation, data is both limited and expensive. Can manipulation still benefit from Transformers with…