相关论文: CURE: Simulation-Augmented Auto-Tuning in Robotics
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
Most modern software systems (operating systems like Linux or Android, Web browsers like Firefox or Chrome, video encoders like ffmpeg, x264 or VLC, mobile and cloud applications, etc.) are highly-configurable. Hundreds of configuration…
The growing use of service robots in dynamic environments requires flexible management of on-board compute resources to optimize the performance of diverse tasks such as navigation, localization, and perception. Current robot deployments…
This paper addresses the problem of Multi-robot Coverage Path Planning (MCPP) for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases…
Taking inspiration from how the brain coordinates multiple learning systems is an appealing strategy to endow robots with more flexibility. One of the expected advantages would be for robots to autonomously switch to the least costly system…
In the automation of many kinds of processes, the observable outcome can often be described as the combined effect of an entire sequence of actions, or controls, applied throughout its execution. In these cases, strategies to optimise…
Training control policies in simulation is more appealing than on real robots directly, as it allows for exploring diverse states in an efficient manner. Yet, robot simulators inevitably exhibit disparities from the real-world…
Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…
Assemblies of modular subsystems are being pressed into service to perform sensing, reasoning, and decision making in high-stakes, time-critical tasks in such areas as transportation, healthcare, and industrial automation. We address the…
Industrial robots are designed as general-purpose hardware with limited ability to adapt to changing task requirements or environments. Modular robots, on the other hand, offer flexibility and can be easily customized to suit diverse needs.…
Manipulation tasks require robots to reason about cause and effect when interacting with objects. Yet, many data-driven approaches lack causal semantics and thus only consider correlations. We introduce COBRA-PPM, a novel causal Bayesian…
Utilitarian algorithm configuration is a general-purpose technique for automatically searching the parameter space of a given algorithm to optimize its performance, as measured by a given utility function, on a given set of inputs. Recently…
The potential impact of autonomous robots on everyday life is evident in emerging applications such as precision agriculture, search and rescue, and infrastructure inspection. However, such applications necessitate operation in unknown and…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
Robot failures in human-centered environments are inevitable. Therefore, the ability of robots to explain such failures is paramount for interacting with humans to increase trust and transparency. To achieve this skill, the main challenges…
Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution…
Large language models (LLMs) demonstrate advanced reasoning abilities, enabling robots to understand natural language instructions and generate high-level plans with appropriate grounding. However, LLM hallucinations present a significant…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…