相关论文: Correct-by-Construction Design of Contextual Robot…
In this paper, we consider a first step to bridge a gap in coordinating task planning robots. Specifically, we study the automatic construction of languages that are maximally flexible while being sufficiently explicative for coordination.…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
The specification and validation of robotics applications require bridging the gap between formulating requirements and systematic testing. This often involves manual and error-prone tasks that become more complex as requirements, design,…
Code LLMs have shown promising results with converting tasks in natural language to programs that can be executed by service robots. We are interested in finetuning small, specialized LLMs for this purpose, but collecting datasets of…
Design by Contract enables seamless software development by unifying software requirements with their implementations. In its pure form, however, Design by Contract leaves some problems with contracts' expressiveness, verifiability, and…
Correct-by-construction synthesis is a cornerstone of the confluence of formal methods and control theory towards designing safety-critical systems. Instead of following the time-tested, albeit laborious (re)design-verify-validate loop,…
Software engineering of modular robotic systems is a challenging task, however, verifying that the developed components all behave as they should individually and as a whole presents its own unique set of challenges. In particular, distinct…
An approach to the formal description of service contracts is presented in terms of automata. We focus on the basic property of guaranteeing that in the multi-party composition of principals each of them gets his requests satisfied, so that…
Contract scheduling is a general technique that allows to design a system with interruptible capabilities, given an algorithm that is not necessarily interruptible. Previous work on this topic has largely assumed that the interruption is a…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
Contract automata have been introduced for specifying applications through behavioural contracts and for synthesising their orchestrations as finite state automata. This paper addresses the realisation of applications from contract automata…
We consider the problem of multi-robot sensor coverage, which deals with deploying a multi-robot team in an environment and optimizing the sensing quality of the overall environment. As real-world environments involve a variety of sensory…
Robotic-assisted minimally invasive surgery (MIS) has enabled procedures with increased precision and dexterity, but surgical robots are still open loop and require surgeons to work with a tele-operation console providing only limited…
LLM-based Software Engineering agents face a critical bottleneck: context length limitations cause failures on complex, long-horizon tasks. One promising solution is to encode context as continuous embeddings rather than discrete tokens,…
Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and…
We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…
The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…
The speed and accuracy with which robots are able to interpret natural language is fundamental to realizing effective human-robot interaction. A great deal of attention has been paid to developing models and approximate inference algorithms…
Artificial Intelligence (AI) has significantly advanced in recent years, driving innovation across various fields, especially in robotics. Even though robots can perform complex tasks with increasing autonomy, challenges remain in ensuring…
Recent advancements in foundational models, such as large language models and world models, have greatly enhanced the capabilities of robotics, enabling robots to autonomously perform complex tasks. However, acquiring large-scale,…