相关论文: Comparison between Behavior Trees and Finite State…

In this paper, we present a toolchain to design, execute, and verify robot behaviors. The toolchain follows the guidelines defined by the EU H2020 project RobMoSys and encodes the robot deliberation as a Behavior Tree (BT), a directed tree…

Imitation learning frameworks for robotic manipulation have drawn attention in the recent development of language model grounded robotics. However, the success of the frameworks largely depends on the coverage of the demonstration cases:…

In reliability engineering, we need to understand system dependencies, cause-effect relations, identify critical components, and analyze how they trigger failures. Three prominent graph models commonly used for these purposes are fault…

Finite state machines (FSMs) are widely used to manage robot behavior logic, particularly in real-world applications that require a high degree of reliability and structure. However, traditional manual FSM design and modification processes…

Vision-Language Models (VLMs) have recently demonstrated strong capabilities in mapping multimodal observations to robot behaviors. However, most current approaches rely on end-to-end visuomotor policies that remain opaque and difficult to…

Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of…

Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT planning shows promise for generating reliable BTs. However,…

Model-based Testing (MBT) is an effective approach for testing when parts of a system-under-test have the characteristics of a finite state machine (FSM). Despite various strategies in the literature on this topic, little work exists to…

Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…

In this paper we show how the combination of Behaviour Tree and Utility Based AI architecture can be used to design more realistic bots for Military Simulators. In this work, we have designed a mathematical model of a simulator system which…

Public Policies are not intrinsically positive or negative. Rather, policies provide varying levels of effects across different recipients. Methodologically, computational modeling enables the application of multiple influences on empirical…

Traditional robot simulators focus on physical process modeling and realistic rendering, often suffering from high computational costs, inefficiencies, and limited adaptability. To handle this issue, we concentrate on behavior simulation in…

Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain…

Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…

Behavior Trees (BTs) provide a lean set of control flow elements that are easily composable in a modular tree structure. They are well established for modeling the high-level behavior of non-player characters in computer games and recently…

This paper presents an innovative exploration of the application potential of large language models (LLM) in addressing the challenging task of automatically generating behavior trees (BTs) for complex tasks. The conventional manual BT…

Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of…

Behavioural models are a valuable tool for software verification, testing, monitoring, publishing etc. However, they are rarely provided by the software developers and have to be extracted either from the source or from the compiled code.…

Designing agents that acquire knowledge autonomously and use it to solve new tasks efficiently is an important challenge in reinforcement learning. Knowledge acquired during an unsupervised pre-training phase is often transferred by…

In this paper, we propose an approach that combines Vision Language Models (VLMs) and Behavior Trees (BTs) to address failures in robotics. Current robotic systems can handle known failures with pre-existing recovery strategies, but they…