相关论文: Property-Based Testing in Simulation for Verifying…
Industrial human-robot collaborative systems must be validated thoroughly with regard to safety. The sooner potential hazards for workers can be exposed, the less costly is the implementation of necessary changes. Due to the complexity of…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
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…
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…
This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot…
Risk assessment of a robot in controlled environments, such as laboratories and proving grounds, is a common means to assess, certify, validate, verify, and characterize the robots' safety performance before, during, and even after their…
In this paper, we present a cyber-physical testbed created to enable a human-robot team to perform a shared task in a shared workspace. The testbed is suitable for the implementation of a tabletop manipulation task, a common human-robot…
In this paper, we enable automated property verification of deliberative components in robot control architectures. We focus on formalizing the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded,…
When faced with an execution failure, an intelligent robot should be able to identify the likely reasons for the failure and adapt its execution policy accordingly. This paper addresses the question of how to utilise knowledge about the…
Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured…
This paper studies the problem of robot performance evaluation, focusing on how to obtain accurate and efficient estimates of real-world behavior under severe constraints on physical experimentation. Such estimates are essential for…
Robotic manipulation is typically evaluated by task success, but successful completion does not guarantee safe execution. Many safety failures are temporal: a robot may touch a clean surface after contamination or release an object before…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
Understanding human actions is a crucial problem for service robots. However, the general trend in Action Recognition is developing and testing these systems on structured datasets. That's why this work presents a practical Skeleton-based…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
Robots are soon going to be deployed in non-industrial environments. Before society can take such a step, it is necessary to endow complex robotic systems with mechanisms that make them reliable enough to operate in situations where the…
The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety performance of legged robots, existing solutions on observed and…
An autonomous service robot should be able to interact with its environment safely and robustly without requiring human assistance. Unstructured environments are challenging for robots since the exact prediction of outcomes is not always…
Long-horizon tabletop games pose a distinct systems challenge for robotics: small perceptual or execution errors can invalidate accumulated task state, propagate across decision-making modules, and ultimately derail interaction. This paper…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…