相关论文: CoSTAR: Instructing Collaborative Robots with Beha…

We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…

Vision-Language Models (VLMs) are becoming the cornerstone of high-level reasoning for robotic automation, enabling robots to parse natural language commands and perceive their environments. However, their susceptibility to hallucinations…

The language-conditioned robotic manipulation aims to transfer natural language instructions into executable actions, from simple pick-and-place to tasks requiring intent recognition and visual reasoning. Inspired by the dual process theory…

In this paper, we introduce a collaborative training algorithm of balanced random forests with convolutional neural networks for domain adaptation tasks. In real scenarios, most domain adaptation algorithms face the challenges from noisy,…

Multi-agent collaborative perception enhances each agent perceptual capabilities by sharing sensing information to cooperatively perform robot perception tasks. This approach has proven effective in addressing challenges such as sensor…

In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…

A major component for developing intelligent and autonomous robots is a suitable knowledge representation, from which a robot can acquire knowledge about its actions or world. However, unlike humans, robots cannot creatively adapt to novel…

We present VASTA, a novel vision and language-assisted Programming By Demonstration (PBD) system for smartphone task automation. Development of a robust PBD automation system requires overcoming three key challenges: first, how to make a…

Research on multi-robot systems has demonstrated promising results in manifold applications and domains. Still, efficiently learning an effective robot behaviors is very difficult, due to unstructured scenarios, high uncertainties, and…

In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…

Achieving generalizable manipulation in unconstrained environments requires the robot to proactively resolve information uncertainty, i.e., the capability of active perception. However, existing methods are often confined in limited types…

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…

One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…

Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination. In this paper we show the first application of the Behaviour Tree framework to a real robotic platform…

The ability to recognize human partners is an important social skill to build personalized and long-term human-robot interactions, especially in scenarios like education, care-giving, and rehabilitation. Faces and voices constitute two…

Unmanned Aerial Vehicles, operating in environments with relatively few obstacles, offer high maneuverability and full three-dimensional mobility. This allows them to rapidly approach objects and perform a wide range of tasks often…

Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decision-making algorithms, as different contexts may require…

For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…

In recent years, robots are used in an increasing variety of tasks, especially by small- and medium- sized enterprises. These tasks are usually fast-changing, they have a collaborative scenario and happen in unpredictable environments with…

Human Activity Recognition (HAR) is essential in ubiquitous computing, with far-reaching real-world applications. While recent SOTA HAR research has demonstrated impressive performance, some key aspects remain under-explored. Firstly, HAR…