相关论文: A Requirements Modeling Language for the Component…

[Context] Artificial intelligence (AI) components used in building software solutions have substantially increased in recent years. However, many of these solutions focus on technical aspects and ignore critical human-centered aspects.…

Developing mobile applications remains difficult, time consuming, and error-prone, in spite of the number of existing platforms and tools. In this paper, we define MoDroid, a high-level modeling language to ease the development of Android…

Motivation: Due to the central role of protein structure in molecular recognition, great computational efforts are devoted to modeling protein structures and motions that mediate structural rearrangements. The size, dimensionality, and…

Functional specifications describe what program components do: the sufficient conditions to invoke a component's operations. They allow us to reason about the use of components in the closed world setting, where the component interacts with…

Critical systems require high reliability and are present in many domains. They are systems in which failure may result in financial damage or even loss of lives. Standard techniques of software engineering are not enough to ensure the…

One of the challenges in robotics is to enable robotic units with the reasoning capability that would be robust enough to execute complex tasks in dynamic environments. Recent advances in LLMs have positioned them as go-to tools for simple…

Behavior Engineering (BE) provides a rigorous way to derive a formal specification of a software system from the requirements written in natural language. Its graphical specification language, Behavior Tree (BT), has been used with success…

The structures for the expression of fault-tolerance provisions into the application software are the central topic of this paper. Structuring techniques answer the questions "How to incorporate fault-tolerance in the application layer of a…

Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…

In this paper we present the core of LoCo, a logic-based high-level representation language for expressing configuration problems. LoCo shall allow to model these problems in an intuitive and declarative way, the dynamic aspects of…

Recent advances in large pretrained models have led to their widespread integration as core components in modern software systems. The trend is expected to continue in the foreseeable future. Unlike traditional software systems governed by…

Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…

Instruction fine-tuning (IFT) elicits instruction following capabilities and steers the behavior of large language models (LLMs) via supervised learning. However, existing models trained on open-source IFT datasets only have the ability to…

This paper describes a framework called MaestROB. It is designed to make the robots perform complex tasks with high precision by simple high-level instructions given by natural language or demonstration. To realize this, it handles a…

Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…

Due to recent advances - compute, data, models - the role of learning in autonomous systems has expanded significantly, rendering new applications possible for the first time. While some of the most significant benefits are obtained in the…

Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…

We present Logical Robots, an interactive multi-agent simulation platform where autonomous robot behavior is specified declaratively in the logic programming language Logica. Robot behavior is defined by logical predicates that map…

We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…

Software architectures for conversational robots typically consist of multiple modules, each designed for a particular processing task or functionality. Some of these modules are developed for the purpose of making decisions about the next…