相关论文: Understanding Xacro Misunderstandings
Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…
The Workflows as Code paradigm is becoming increasingly essential to streamline the design and management of complex processes within data-intensive software systems. These systems require robust capabilities to process, analyze, and…
The intrinsic modularity and reconfigurability of modular reconfigurable robots (MRR) confer advantages such as versatility, fault tolerance, and economic efficacy, thereby showcasing considerable potential across diverse applications. The…
Detecting miscommunication in human-robot interaction is a critical function for maintaining user engagement and trust. While humans effortlessly detect communication errors in conversations through both verbal and non-verbal cues, robots…
Nowadays service robots are leaving the structured and completely known environments and entering human-centric settings. For these robots, object perception and grasping are two challenging tasks due to the high demand for accurate and…
Extensible markup language (XML) is a technology that has been much hyped, so that XML has become an industry buzzword. Behind the hype is a powerful technology for data representation in a platform independent manner. As a text document,…
For effective human-robot collaboration, it is crucial for robots to understand requests from users and ask reasonable follow-up questions when there are ambiguities. While comprehending the users' object descriptions in the requests,…
Mechanisms are a fundamental concept in many areas of science. Nonetheless, there has been little effort to develop structures to represent mechanisms. We explore the issues in developing a basic semantic modeling framework for describing…
Language Models (LMs) have significantly advanced natural language processing and enabled remarkable progress across diverse domains, yet their black-box nature raises critical concerns about the interpretability of their internal…
The rise of automation has provided an opportunity to achieve higher efficiency in manufacturing processes, yet it often compromises the flexibility required to promptly respond to evolving market needs and meet the demand for…
The acquisition of high-quality, action-aligned demonstration data remains a fundamental bottleneck in scaling foundation models for dexterous robot manipulation. Although robot-free human demonstrations (e.g., the UMI paradigm) offer a…
The problem of representing a detector in a form which is accessible to a variety of applications, allows retrieval of information in ways which are natural to those applications, and is maintainable has been vexing physicists for some…
We present an open-source accessory for the NAO robot, which enables to test computationally demanding algorithms in an external platform while preserving robot's autonomy and mobility. The platform has the form of a backpack, which can be…
Modern robotic systems integrate multiple independent software and hardware components, each responsible for distinct functionalities such as perception, decision-making, and execution. These components interact extensively to accomplish…
A surge of interest in explainable AI (XAI) has led to a vast collection of algorithmic work on the topic. While many recognize the necessity to incorporate explainability features in AI systems, how to address real-world user needs for…
Software developers solve a diverse and wide range of problems. While software engineering research often focuses on tools to support this problem solving, the strategies that developers use to solve problems are at least as important. In…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
The robot development process is divided into several stages, which create barriers to the exchange of information between these different stages. We advocate for an interactive lifecycle representation, extending from robot morphology…
Programming robots for general purpose applications is extremely challenging due to the great diversity of end-user tasks ranging from manufacturing environments to personal homes. Recent work has focused on enabling end-users to program…
Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for…