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This paper introduces the new robot programming language LightRocks (Light Weight Robot Coding for Skills), a domain specific language (DSL) for robot programming. The language offers three different level of abstraction for robot…
This paper presents a newly-developed robotics programming course and reports the initial results of software engineering education in robotics context. Robotics programming, as a multidisciplinary course, puts equal emphasis on software…
Our ongoing development and deployment of an online robotics education platform highlighted a gap in providing an interactive, feedback-rich learning environment essential for mastering programming concepts in robotics, which they were not…
High-quality visualizations are an essential part of robotics research, enabling clear communication of results through figures, animations, and demonstration videos. While Blender is a powerful and freely available 3D graphics platform,…
WebScript is a scripting language for processing Web documents. Designed as an extension to Jacl, the Java implementation of Tcl, WebScript allows programmers to manipulate HTML in the same way as Tcl manipulates text strings and GUI…
Building on prior research on Generative AI (GenAI) and related tools for programming education, we developed SCRIPT, a chatbot based on ChatGPT-4o-mini, to support novice learners. SCRIPT allows for open-ended interactions and structured…
Message oriented and robotics middleware play an important role in facilitating robot control, abstracting complex functionality, and unifying communication patterns between sensors and devices. However, using multiple middleware frameworks…
Building state-of-the-art text-to-speech (TTS) systems typically demands millions of hours of proprietary data and complex multi-stage architectures, creating substantial barriers for resource-constrained research teams. In this report, we…
Automatically generating scripts (i.e. sequences of key steps described in text) from video demonstrations and reasoning about the subsequent steps are crucial to the modern AI virtual assistants to guide humans to complete everyday tasks,…
Programming industrial robots is not very intuitive, and the programmer has to be a domain expert for e.g. welding and programming to know how the task is optimally executed. For SMEs such employees are not affordable, nor cost-effective.…
Since the introduction of the Fortran programming language some 60 years ago, there has been little progress in making error messages more user-friendly. A first step in this direction is to translate them into the natural language of the…
Generalist robots that can perform a range of different tasks in open-world settings must be able to not only reason about the steps needed to accomplish their goals, but also process complex instructions, prompts, and even feedback during…
Large Language Models (LLMs) have shown promise in assisting scientific discovery. However, such applications are currently limited by LLMs' deficiencies in understanding intricate scientific concepts, deriving symbolic equations, and…
We describe a novel masters-level projects class that teaches robotics along the traditional robotics pipeline (dynamics, state estimation, controls, planning). One key motivational part is that students have to directly apply the…
Language model applications are becoming increasingly popular and complex, often including features like tool usage and retrieval augmentation. However, existing frameworks for such applications are often opinionated, deciding for…
This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot programs using large language models (LLMs)…
We describe an architecture for implementing spoken natural language dialogue interfaces to semi-autonomous systems, in which the central idea is to transform the input speech signal through successive levels of representation corresponding…
Recent AIGC systems possess the capability to generate digital multimedia content based on human language instructions, such as text, image and video. However, when it comes to speech, existing methods related to human instruction-to-speech…
Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…
Teaching and learning physical skills often require one-on-one interaction, making it difficult to scale up, as there are not enough human teachers. Robots offer an attractive alternative. This paper presents TeachingBot, an adaptive…