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In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
The C Object System (Cos) is a small C library which implements high-level concepts available in Clos, Objc and other object-oriented programming languages: uniform object model (class, meta-class and property-metaclass), generic functions,…
Hybrid is a formal theory implemented in Isabelle/HOL that provides an interface for representing and reasoning about object languages using higher-order abstract syntax (HOAS). This interface is built around an HOAS variable-binding…
Licas (lightweight internet-based communication for autonomic services) is a distributed framework for building service-based systems. The framework provides a p2p server and more intelligent processing of information through its AI…
Julia is a mature general-purpose programming language, with a large ecosystem of libraries and more than 12000 third-party packages, which specifically targets scientific computing. As a language, Julia is as dynamic, interactive, and…
Reo, an exogenous channel-based coordination language, is a model for service coordination wherein services communicate through connectors formed by joining binary communication channels. In order to establish transactional communication…
We explain the methodology we developed for improving the interactions accomplished by an embedded conversational agent, drawing from Conversation Analytic sequential and multimodal analysis. The use case is a Pepper robot that is expected…
Speech is a natural interface for humans to interact with robots. Yet, aligning a robot's voice to its appearance is challenging due to the rich vocabulary of both modalities. Previous research has explored a few labels to describe robots…
Human-in-the-loop approaches are of great importance for robot applications. In the presented study, we implemented a multimodal human-robot interaction (HRI) scenario, in which a simulated robot communicates with its human partner through…
Task-based distributed frameworks (e.g., Ray, Dask, Hydro) have become increasingly popular for distributed applications that contain asynchronous and dynamic workloads, including asynchronous gradient descent, reinforcement learning, and…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of…
Foundation vision-language models are becoming increasingly relevant to robotics because they can provide richer semantic perception than narrow task-specific pipelines. However, their practical adoption in robot software stacks still…
Supporting mainstream applications is fundamental for a new OS to have impact. It is generally achieved by developing a layer of compatibility allowing applications developed for a mainstream OS like Linux to run unmodified on the new OS.…
Bots are software systems designed to support users by automating a specific process, task, or activity. When such systems implement a conversational component to interact with the users, they are also known as conversational agents. Bots,…
Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional…
We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible…
The Robot Context Protocol (RCP) is a lightweight, middleware-agnostic communication protocol designed to simplify the complexity of robotic systems and enable seamless interaction between robots, users, and autonomous agents. RCP provides…
Context: This paper presents the concept of open programming language interpreters and the implementation of a framework-level metaobject protocol (MOP) to support them. Inquiry: We address the problem of dynamic interpreter adaptation to…
We present RCE (Remote Component Environment), an open-source framework developed primarily at DLR (German Aerospace Center) that enables its users to construct and execute multidisciplinary engineering workflows comprising multiple…