相关论文: Automatic Encoding and Repair of Reactive High-Lev…

Prior works have demonstrated that implicit representations trained only for reconstruction tasks typically generate encodings that are not useful for semantic tasks. In this work, we propose a method that contextualises the encodings of…

In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…

While robots can learn models to solve many manipulation tasks from raw visual input, they cannot usually use these models to solve new problems. On the other hand, symbolic planning methods such as STRIPS have long been able to solve new…

This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…

Given a collaborative high-level task and a team of heterogeneous robots and behaviors to satisfy it, this work focuses on the challenge of automatically, at runtime, adjusting the individual robot behaviors such that the task is still…

We present an approach for representing abstract argumentation frameworks based on an encoding into classical higher-order logic. This provides a uniform framework for computer-assisted assessment of abstract argumentation frameworks using…

If robots are ever to achieve autonomous motion comparable to that exhibited by animals, they must acquire the ability to quickly recover motor behaviors when damage, malfunction, or environmental conditions compromise their ability to move…

Learning abstractions directly from data is a core challenge in robotics. Humans naturally operate at an abstract level, reasoning over high-level subgoals while delegating execution to low-level motor skills -- an ability that enables…

Knowledge about how well a robot can perform a specific task is currently present only in engineering reports which are inaccessible to the robot. Artificial Intelligence techniques, such as hypergraphs and automated reasoning, can provide…

Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily account for typical complexities such as sets of joint states and…

We present a novel framework for human-robot \emph{logical} interaction that enables robots to reliably satisfy (infinite horizon) temporal logic tasks while effectively collaborating with humans who pursue independent and unknown tasks.…

We propose a symbolic generative task description language and a corresponding inference engine capable of representing arbitrary multimodal tasks as structured symbolic flows. Unlike conventional generative models that rely on large-scale…

Autonomous robots in unstructured and dynamically changing retail environments have to master complex perception, knowledgeprocessing, and manipulation tasks. To enable them to act competently, we propose a framework based on three core…

This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…

Reinforcement learning is a promising approach for learning control policies for robot tasks. However, specifying complex tasks (e.g., with multiple objectives and safety constraints) can be challenging, since the user must design a reward…

We present an automated learning framework for a robotic sketching agent that is capable of learning stroke-based rendering and motor control simultaneously. We formulate the robotic sketching problem as a deep decoupled hierarchical…

This paper presents experimental results from real-time parameter estimation of a system model and subsequent trajectory optimization for a dynamic task using the Baxter Research Robot from Rethink Robotics. An active estimator maximizing…