相关论文: Limits of specifiability for sensor-based robotic …

While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills…

Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives…

Controlling robots to perform tasks via natural language is one of the most challenging topics in human-robot interaction. In this work, we present a robot system that follows unconstrained language instructions to pick and place arbitrary…

Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add…

Reinforcement learning is a promising approach for learning control policies for robot tasks. However, specifying complex tasks (e.g., with multiple objectives and safety constraints) can be challenging, since the user must design a reward…

Task and motion planning represents a powerful set of hybrid planning methods that combine reasoning over discrete task domains and continuous motion generation. Traditional reasoning necessitates task domain models and enough information…

Specifying reward functions for robots that operate in environments without a natural reward signal can be challenging, and incorrectly specified rewards can incentivise degenerate or dangerous behavior. A promising alternative to manually…

In this paper, we consider a first step to bridge a gap in coordinating task planning robots. Specifically, we study the automatic construction of languages that are maximally flexible while being sufficiently explicative for coordination.…

The research community is puzzled with words like skill, action, atomic unit and others when describing robots' capabilities. However, for giving the possibility to integrate capabilities in industrial scenarios, a standardization of these…

One simplifying assumption in existing and well-performing task allocation methods is that the robots are single-tasking: each robot operates on a single task at any given time. While this assumption is harmless to make in some situations,…

For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a specified objective and satisfy whatever constraints exist in…

To enable robots to instruct humans in collaborations, we identify several aspects of language processing that are not commonly studied in this context. These include location, planning, and generation. We suggest evaluations for each task,…

Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient…

Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…

Affordances are key attributes of what must be perceived by an autonomous robotic agent in order to effectively interact with novel objects. Historically, the concept derives from the literature in psychology and cognitive science, where…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

While the exploration for embodied AI has spanned multiple decades, it remains a persistent challenge to endow agents with human-level intelligence, including perception, learning, reasoning, decision-making, control, and generalization…

Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…

With the increasing demand for mobile robots and autonomous vehicles, several approaches for long-term robot navigation have been proposed. Among these techniques, ground segmentation and traversability estimation play important roles in…

Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…