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While behavior learning has made impressive progress in recent times, it lags behind computer vision and natural language processing due to its inability to leverage large, human-generated datasets. Human behaviors have wide variance,…
Serial robot arms have complicated kinematic equations which must be solved to write effective arm planning and control software (the Inverse Kinematics Problem). Existing software packages for inverse kinematics often rely on numerical…
We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…
Artificial intelligence (AI) tools based on large language models have acheived human-level performance on some computer programming tasks. We report several experiments using GPT-4 to generate computer code. These experiments demonstrate…
This paper presented an XAI system specification and an interactive dialogue model to facilitate the creation of Explanation Experiences (EE). Such specifications combine the knowledge of XAI, domain and system experts of a use case to…
The rise of AI-driven coding assistants signals a fundamental shift in how software is built. While AI coding assistants have been integrated into existing Integrated Development Environments (IDEs), their full potential remains largely…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Behavior trees (BTs) are an optimally modular framework to assemble hierarchical hybrid control policies from a set of low-level control policies using a tree structure. Many robotic tasks are naturally decomposed into a hierarchy of…
Behavior Trees (BTs) provide a structured and reactive framework for decision-making, commonly used to switch between sub-controllers based on environmental conditions. Reinforcement Learning (RL), on the other hand, can learn near-optimal…
Interactive task planning with large language models (LLMs) enables robots to generate high-level action plans from natural language instructions. However, in long-horizon tasks, such approaches often require many questions, increasing user…
In this paper we show how the combination of Behaviour Tree and Utility Based AI architecture can be used to design more realistic bots for Military Simulators. In this work, we have designed a mathematical model of a simulator system which…
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…
Optimal path planning involves finding a feasible state sequence between a start and a goal that optimizes an objective. This process relies on heuristic functions to guide the search direction. While a robust function can improve search…
AI-supported tools can help learners overcome challenges in programming education by providing adaptive assistance. However, existing research often focuses on individual tools rather than deriving broader design recommendations. A key…
Interpretable policy representations like Behavior Trees (BTs) and Dynamic Motion Primitives (DMPs) enable robot skill transfer from human demonstrations, but each faces limitations: BTs require expert-crafted low-level actions, while DMPs…
This paper addresses the concurrency issues affecting Behavior Trees (BTs), a popular tool to model the behaviors of autonomous agents in the video game and the robotics industry. BT designers can easily build complex behaviors composing…
Reinforcement Learning (RL) is a powerful mathematical framework that allows robots to learn complex skills by trial-and-error. Despite numerous successes in many applications, RL algorithms still require thousands of trials to converge to…
Computer-Use Agents (CUA) are becoming increasingly capable of autonomously operating digital environments through Graphical User Interfaces (GUI). Yet, most GUI remain designed primarily for humans--prioritizing aesthetics and…
AI-Driven Development Environments (AIDEs) Integrate the power of modern AI into IDEs like Visual Studio Code and JetBrains IntelliJ. By leveraging massive language models and the plethora of openly available source code, AIDEs promise to…
Intelligent tutoring systems (ITS) are effective for improving students' learning outcomes. However, their development is often complex, time-consuming, and requires specialized programming and tutor design knowledge, thus hindering their…