Related papers: ROSA: A Knowledge-based Solution for Robot Self-Ad…
As service robots become more general-purpose, they will need to adapt to their users' preferences over a large set of all possible tasks that they can perform. This includes preferences regarding which actions the users prefer to delegate…
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…
Modern robot navigation systems encounter difficulties in diverse and complex indoor environments. Traditional approaches rely on multiple modules with small models or rule-based systems and thus lack adaptability to new environments. To…
Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
We propose a novel formulation of the collision-aware task assignment (CATA) problem and a decentralized auction-based algorithm to solve the problem with optimality bound. Using a collision cone, we predict potential collisions and…
The system architecture controlling a group of robots is generally set before deployment and can be either centralized or decentralized. This dichotomy is highly constraining, because decentralized systems are typically fully self-organized…
Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…
Robotics is incredibly fun and is long recognized as a great way to teach programming, while drawing inspiring connections to other branches of engineering and science such as maths, physics or electronics. Although this symbiotic…
To reduce Operation and Maintenance (O&M) costs on offshore wind farms, wherein 80% of the O&M cost relates to deploying personnel, the offshore wind sector looks to Robotics and Artificial Intelligence (RAI) for solutions. Barriers to…
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…
We propose a decentralized, learning-based framework for dynamic coalition formation in Multi-Robot Task Allocation (MRTA). Our approach extends MAPPO by integrating spatial action maps, robot motion planning, intention sharing, and task…
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…
This paper introduces RobotIQ, a framework that empowers mobile robots with human-level planning capabilities, enabling seamless communication via natural language instructions through any Large Language Model. The proposed framework is…
Low-Rank Adaptation (LoRA) is widely adopted for downstream fine-tuning of foundation models due to its efficiency and zero additional inference cost. Many real-world applications require foundation models to specialize in several specific…
Multi-robot systems are increasingly deployed in applications, such as intralogistics or autonomous delivery, where multiple robots collaborate to complete tasks efficiently. One of the key factors enabling their efficient cooperation is…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials,…
Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We advocate using realistic physical simulation as a means to…
As robotic systems become increasingly integrated into complex real-world environments, there is a growing need for approaches that enable robots to understand and act upon natural language instructions without relying on extensive…