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As AI systems take on collaborative roles, they must reason about shared goals and beliefs-not just generate fluent language. The Rational Speech Act (RSA) framework offers a principled approach to pragmatic reasoning, but existing…
In this paper, we propose the use of generative artificial intelligence (AI) to improve zero-shot performance of a pre-trained policy by altering observations during inference. Modern robotic systems, powered by advanced neural networks,…
Incorrect operations of a Multi-Robot System (MRS) may not only lead to unsatisfactory results, but can also cause economic losses and threats to safety. These threats may not always be apparent, since they may arise as unforeseen…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
In an era where autonomous robots increasingly inhabit public spaces, the imperative for transparency and interpretability in their decision-making processes becomes paramount. This paper presents the overview of a Robotic eXplanation and…
Large Language Models (LLMs) have experienced great advancements in the last year resulting in an increase of these models in several fields to face natural language tasks. The integration of these models in robotics can also help to…
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present…
A multi-disciplinary understanding of the concepts of identity, agency, relationships, interactions, and information could help us develop mitigation strategies for responsible human-algorithmic systems in the field of AI. It is imperative…
Foundational models have advanced social robotics, enabling richer perception and communicative interaction with users. However, current systems still struggle with multi-turn engagement, social-relationship reasoning, and contextually…
We introduce ROS-X-Habitat, a software interface that bridges the AI Habitat platform for embodied learning-based agents with other robotics resources via ROS. This interface not only offers standardized communication protocols between…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
AI agents -- systems that combine foundation models with reasoning, planning, memory, and tool use -- are rapidly becoming a practical interface between natural-language intent and real-world computation. This survey synthesizes the…
Reinforcement Learning is a machine learning methodology that has demonstrated strong performance across a variety of tasks. In particular, it plays a central role in the development of artificial autonomous agents. As these agents become…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
Foundation models have demonstrated impressive capabilities across diverse domains, while imitation learning provides principled methods for robot skill adaptation from limited data. Combining these approaches holds significant promise for…
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…
Modern artificial intelligence (AI) systems act with a high degree of independence yet lack legal personhood-a paradox that fractures doctrines grounded in human-centric notions of mens rea and actus reus. This Article introduces…
A fundamental challenge of shared autonomy is to use high-DoF robots to assist, rather than hinder, humans by first inferring user intent and then empowering the user to achieve their intent. Although successful, prior methods either rely…
Robotics and automation are poised to change the landscape of home and work in the near future. Robots are adept at deliberately moving, sensing, and interacting with their environments. The pervasive use of this technology promises…