相关论文: Advancing The Robotics Software Development Experi…

The design and organization of complex robotic systems traditionally requires laborious trial-and-error processes to ensure both hardware and software components are correctly connected with the resources necessary for computation. This…

As environments involving both robots and humans become increasingly common, so does the need to account for people during planning. To plan effectively, robots must be able to respond to and sometimes influence what humans do. This…

A robot's actions are inherently stochastic, as its sensors are noisy and its actions do not always have the intended effects. For this reason, the agent language Golog has been extended to models with degrees of belief and stochastic…

Generative AI technologies promise to transform the product development lifecycle. This study evaluates the efficiency gains, areas for improvement, and emerging challenges of using GitHub Copilot, an AI-powered coding assistant. We…

Tool use is a hallmark of advanced intelligence, exemplified in both animal behavior and robotic capabilities. This paper investigates the feasibility of imbuing robots with the ability to creatively use tools in tasks that involve implicit…

Python has become the de facto language for scientific computing. Programming in Python is highly productive, mainly due to its rich science-oriented software ecosystem built around the NumPy module. As a result, the demand for Python…

Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present PyRoki: a modular, extensible, and cross-platform toolkit for…

Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently and accurately computing the simulation derivatives remains…

NetworkDynamics.jl is an easy-to-use and computationally efficient package for working with heterogeneous dynamical systems on complex networks, written in Julia, a high-level, high-performance, dynamic programming language. By combining…

There is a vast gap in the quality of IDE tooling between static languages like Java and dynamic languages like Python or JavaScript. Modern frameworks and libraries in these languages heavily use their dynamic capabilities to achieve the…

We introduce two new packages, Nemo and Hecke, written in the Julia programming language for computer algebra and number theory. We demonstrate that high performance generic algorithms can be implemented in Julia, without the need to resort…

Modern computing systems increasingly rely on composing heterogeneous devices to improve performance and efficiency. Programming these systems is often unproductive: algorithm implementations must be coupled to system-specific logic,…

Robotics simulation provides many advantages during the development of an intelligent ground vehicle (IGV) such as testing the software components in varying scenarios without requiring a complete physical robot. This paper discusses a 3D…

A large amount of numerically-oriented code is written and is being written in legacy languages. Much of this code could, in principle, make good use of data-parallel throughput-oriented computer architectures. Loo.py, a…

Knowledge representation and reasoning capacities are vital to cognitive robotics because they provide higher level cognitive functions for reasoning about actions, environments, goals, perception, etc. Although Answer Set Programming (ASP)…

As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…

The growing proliferation of FPGAs and High-level Synthesis (HLS) tools has led to a large interest in designing hardware accelerators for complex operations and algorithms. However, existing HLS toolflows typically require a significant…

The advent of strong generative AI has a considerable impact on various software engineering tasks such as code repair, test generation, or language translation. While tools like GitHub Copilot are already in widespread use in interactive…

This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…

Notwithstanding the tremendous progress that is taking place in spoken language technology, effective speech-based human-robot interaction still raises a number of important challenges. Not only do the fields of robotics and spoken language…