相关论文: Goal-Oriented End-User Programming of Robots
Top-down, user-centered thinking is not typically a strength of all students, especially tech-savvy computer science-related ones. We propose Human-Robot Interaction (HRI) introductory courses as a highly suitable opportunity to foster…
We introduce Robix, a unified model that integrates robot reasoning, task planning, and natural language interaction within a single vision-language architecture. Acting as the high-level cognitive layer in a hierarchical robot system,…
Establishing shared goals is a fundamental step in human-AI communication. However, ambiguities can lead to outputs that seem correct but fail to reflect the speaker's intent. In this paper, we explore this issue with a focus on the data…
Robotic systems lack a principled abstraction for organizing intelligence, capabilities, and execution in a unified manner. Existing approaches either couple skills within monolithic architectures or decompose functionality into loosely…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
The growing scale, complexity, interconnectivity, and autonomy of modern software ecosystems introduce unprecedented uncertainty, challenging the foundations of traditional self-adaptation. Existing approaches, typically rule-driven…
Participatory Design (PD) methods are effective in understanding older adults' perspectives, concerns, and wishes and generating ideas for new intelligent aids. The aim of our study was first to map perceptions and explore the needs of…
Recent advances in GenAI have enabled automation in data visualization, allowing users to generate visual representations using natural language. However, existing systems primarily focus on automation, overlooking users' varying expertise…
Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…
Task and motion planning is a well-established approach for solving long-horizon robot planning problems. However, traditional methods assume that each task-level robot action, or skill, can be reduced to kinematic motion planning. We…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
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…
Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
Visual loco-manipulation of arbitrary objects in the wild with humanoid robots requires accurate end-effector (EE) control and a generalizable understanding of the scene via visual inputs (e.g., RGB-D images). Existing approaches are based…
Users of AI systems may rely upon them to produce plans for achieving desired objectives. Such AI systems should be able to compute obfuscated plans whose execution in adversarial situations protects privacy, as well as legible plans which…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…