相关论文: The Director: A Composable Behaviour System with S…
The narrative quality of a video fundamentally determines its perceptual value. Although existing video generation methods can produce visually appealing content, they predominantly rely on sparse conditioning signals such as text prompts…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
In this paper a framework for engineering supervisory controllers for product lines with dynamic feature configuration is proposed. The variability in valid configurations is described by a feature model. Behavior of system components is…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Self-adaptivity allows software systems to autonomously adjust their behavior during run-time to reduce the cost complexities caused by manual maintenance. In this paper, a framework for building an external adaptation engine for…
Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
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…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
Assistive robots have growing potential to support physical wellbeing in home and healthcare settings, for example, by guiding users through stretching or rehabilitation routines. However, existing systems remain largely scripted, which…
It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…
This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
World models have emerged as a powerful paradigm for building interactive simulation environments, with recent video-based approaches demonstrating impressive progress in generating visually plausible dynamics. However, because these models…
Programming robots by demonstration (PbD) is an intuitive concept, but scaling it to real-world variability remains a challenge for most current teaching frameworks. Conditional task graphs are very expressive and can be defined…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
In this work, we present a test-driven, agentic framework for synthesizing a deployable low-level robot controller for navigation tasks. Given a 2D map with an image of an ultrasonic sensor-based robot, or a 3D robotic simulation…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…