Related papers: Limits of specifiability for sensor-based robotic …
The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…
Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the…
As more robots act in physical proximity to people, it is essential to ensure they make decisions and execute actions that align with human values. To do so, robots need to understand the true intentions behind human-issued commands. In…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
This paper presents a constrained-optimization formulation for the prioritized execution of learned robot tasks. The framework lends itself to the execution of tasks encoded by value functions, such as tasks learned using the reinforcement…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
Robots can provide assistance to a human by moving objects to locations around the person's body. With a well chosen initial configuration, a robot can better reach locations important to an assistive task despite model error, pose…
Social robots are becoming increasingly diverse in their design, behavior, and usage. In this chapter, we provide a broad-ranging overview of the main characteristics that arise when one considers social robots and their interactions with…
In an influential paper, Levesque proposed a formal specification for analysing the correctness of program-like plans, such as conditional plans, iterative plans, and knowledge-based plans. He motivated a logical characterisation within the…
This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…
We present a new robotic foundation model, called ${\pi}_{0.7}$, that can enable strong out-of-the-box performance in a wide range of scenarios. ${\pi}_{0.7}$ can follow diverse language instructions in unseen environments, including…
We present a hierarchical framework to solve robot planning as an input control problem. At the lowest level are temporary closed control loops, ("tasks"), each representing a behaviour, contingent on a specific sensory input and therefore…
Statistical latent class models are widely used in social and psychological researches, yet it is often difficult to establish the identifiability of the model parameters. In this paper we consider the identifiability issue of a family of…
A significant challenge in service robots is the semantic understanding of their surrounding areas. Traditional approaches addressed this problem by segmenting the floor plan into regions corresponding to full rooms that are assigned labels…
Aligning humans' assessment of what a robot can do with its true capability is crucial for establishing a common ground between human and robot partners when they collaborate on a joint task. In this work, we propose an approach to…
With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments. To deliver these services…
Knowledge about how well a robot can perform a specific task is currently present only in engineering reports which are inaccessible to the robot. Artificial Intelligence techniques, such as hypergraphs and automated reasoning, can provide…
Task and motion planning (TAMP) algorithms have been developed to help robots plan behaviors in discrete and continuous spaces. Robots face complex real-world scenarios, where it is hardly possible to model all objects or their physical…
To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with…
Behavior Trees (BTs) offer a powerful paradigm for designing modular and reactive robot controllers. BT planning, an emerging field, provides theoretical guarantees for the automated generation of reliable BTs. However, BT planning…