相关论文: Behavior Trees and State Machines in Robotics Appl…

Rigid body dynamics algorithms play a crucial role in several components of a robot controller and simulations. Real time constraints in high frequency control loops and time requirements of specific applications demand these functions to…

In recent years, the integration of large language models (LLMs) has revolutionized the field of robotics, enabling robots to communicate, understand, and reason with human-like proficiency. This paper explores the multifaceted impact of…

Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…

Neural networks (NNs) and decision trees (DTs) are both popular models of machine learning, yet coming with mutually exclusive advantages and limitations. To bring the best of the two worlds, a variety of approaches are proposed to…

We propose dynamical systems trees (DSTs) as a flexible class of models for describing multiple processes that interact via a hierarchy of aggregating parent chains. DSTs extend Kalman filters, hidden Markov models and nonlinear dynamical…

We study the problem of synthesizing domain-specific languages (DSLs) for few-shot learning in symbolic domains. Given a base language and instances of few-shot learning problems, where each instance is split into training and testing…

Earthwork operations face increasing demand, while workforce aging creates a growing need for automation. ROS2-TMS for Construction, a Cyber-Physical System framework for construction machinery automation, has been proposed; however, its…

This paper presents a novel approach in autonomous robot control, named LLM-BRAIn, that makes possible robot behavior generation, based on operator's commands. LLM-BRAIn is a transformer-based Large Language Model (LLM) fine-tuned from…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

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…

In this paper we provide a formal framework for comparing the expressive power of Behavior Trees (BTs) to other action selection architectures. Taking inspiration from the analogous comparisons of structural programming methodologies, we…

There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…

Dialogue systems (DS), including the task-oriented dialogue system (TOD) and the open-domain dialogue system (ODD), have always been a fundamental task in natural language processing (NLP), allowing various applications in practice. Owing…

Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most…

Large language models have given social robots the ability to autonomously engage in open-domain conversations. However, they are still missing a fundamental social skill: making use of the multiple modalities that carry social…

Robots that support humans by performing useful tasks (a.k.a., service robots) are booming worldwide. In contrast to industrial robots, the development of service robots comes with severe software engineering challenges, since they require…

This paper describes an approach to creating textual syntax for Do- main-Specific Languages (DSL). We consider target meta-model to be the main artifact and hence to be developed first. The key idea is to represent analysis of textual…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

Domain-specific languages raise the level of abstraction in software development. While it is evident that programmers can more easily reason about very high-level programs, the same holds for compilers only if the compiler has an accurate…

To keep a DSL clean, readable and reusable in different contexts, it is useful to define a separate tagging language. A tag model logically adds information to the tagged DSL model while technically keeping the artifacts separated. Using a…