Related papers: Coral: A Unifying Abstraction Layer for Composable…
Learning abstractions directly from data is a core challenge in robotics. Humans naturally operate at an abstract level, reasoning over high-level subgoals while delegating execution to low-level motor skills -- an ability that enables…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Autonomic computing has been proposed recently as a way to address the difficult management of applications whose complexity is constantly increasing. Autonomous applications will have to be especially flexible and be able to monitor…
The Abstraction and Reasoning Corpus (ARC) is a set of procedural tasks that tests an agent's ability to flexibly solve novel problems. While most ARC tasks are easy for humans, they are challenging for state-of-the-art AI. What makes…
Existing reinforcement learning environment libraries use monolithic environment classes, provide shallow methods for altering agent observation and action spaces, and/or are tied to a specific simulation environment. The Core Reinforcement…
To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…
Despite significant progress in robotics and embodied AI in recent years, deploying robots for long-horizon tasks remains a great challenge. Majority of prior arts adhere to an open-loop philosophy and lack real-time feedback, leading to…
Recent trend towards increasing large machine learning models require both training and inference tasks to be distributed. Considering the huge cost of training these models, it is imperative to unlock optimizations in computation and…
Distributed computing often gives rise to complex concurrent and interacting activities. In some cases several concurrent activities may be working together, i.e. cooperating, to solve a given problem; in other cases, the activities may be…
Application partitioning and code offloading are being researched extensively during the past few years. Several frameworks for code offloading have been proposed. However, fewer works attempted to address issues occurred with its…
Current embodied intelligent systems still face a substantial gap between high-level reasoning and low-level physical execution in open-world environments. Although Vision-Language-Action (VLA) models provide strong perception and intuitive…
Like with most large-scale systems, the evaluation of quantitative properties of collective adaptive systems is an important issue that crosscuts all its development stages, from design (in the case of engineered systems) to runtime…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
In an increasingly automated world -- from warehouse robots to self-driving cars -- streamlining the development and deployment process and operations of robotic applications becomes ever more important. Automated DevOps processes and…
Seamless model based development aims to use models during all phases of the development process of a system. During the development process in a component-based approach, components of a system are described at qualitatively differing…
Low-Rank Adaptation (LoRA) is a popular technique for parameter-efficient fine-tuning of Large Language Models (LLMs). We study how different LoRA modules can be merged to achieve skill composition -- testing the performance of the merged…
Component-Based Development (CBD) is a popular approach to mitigating the costs of creating software systems. However, it is not clear to what extent the core component selection and adaptation activities of CBD can be implemented to…
The potential impact of autonomous robots on everyday life is evident in emerging applications such as precision agriculture, search and rescue, and infrastructure inspection. However, such applications necessitate operation in unknown and…
Recent developments in the commercial open source community have catalysed the use of Linux containers for scalable deployment of web-based applications to the cloud. Scientific software can be containerized with dependencies, configuration…
In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opposed to contemporary approaches that incorporate the elastic…