相关论文: Robot Introspection via Wrench-based Action Gramma…

As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…

We propose a promising neural network model with which to acquire a grounded representation of robot actions and the linguistic descriptions thereof. Properly responding to various linguistic expressions, including polysemous words, is an…

Existing household robots have made significant progress in performing routine tasks, such as cleaning floors or delivering objects. However, a key limitation of these robots is their inability to recognize potential problems or dangers in…

Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active…

Interruptions, a fundamental component of human communication, can enhance the dynamism and effectiveness of conversations, but only when effectively managed by all parties involved. Despite advancements in robotic systems, state-of-the-art…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

In this work, we highlight vulnerabilities in robotic systems integrating large language models (LLMs) and vision-language models (VLMs) due to input modality sensitivities. While LLM/VLM-controlled robots show impressive performance across…

We present a hierarchical framework to solve robot planning as an input control problem. At the lowest level are temporary closed control loops, ("tasks"), each representing a behaviour, contingent on a specific sensory input and therefore…

The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…

To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…

When interacting in unstructured human environments, occasional robot failures are inevitable. When such failures occur, everyday people, rather than trained technicians, will be the first to respond. Existing natural language explanations…

When faced with a novel scenario, it can be hard to succeed on the first attempt. In these challenging situations, it is important to know how to retry quickly and meaningfully. Retrying behavior can emerge naturally in robots trained on…

In robot task planning, large language models (LLMs) have shown significant promise in generating complex and long-horizon action sequences. However, it is observed that LLMs often produce responses that sound plausible but are not…

Bridging robot action sequences and their natural language captions is an important task to increase explainability of human assisting robots in their recently evolving field. In this paper, we propose a system for generating natural…

Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…

Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…

As robots become more integrated into society, detecting robot errors is essential for effective human-robot interaction (HRI). When a robot fails repeatedly, how can it know when to change its behavior? Humans naturally respond to robot…

An important class of applications entails a robot monitoring, scrutinizing, or recording the evolution of an uncertain time-extended process. This sort of situation leads an interesting family of planning problems in which the robot is…

The advancement of robots, particularly those functioning in complex human-centric environments, relies on control solutions that are driven by machine learning. Understanding how learning-based controllers make decisions is crucial since…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…