相关论文: Extending Behavior Trees for Robotic Missions with…

In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observable environments. We extend the semantic of BTs to account…

The First International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob'10) was held at the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10), October 2010 in Taipei, Taiwan. The…

Datasets play a central role in the training and evaluation of machine learning (ML) models. But they are also the root cause of many undesired model behaviors, such as biased predictions. To overcome this situation, the ML community is…

Pipelining is a well understood and often used implementation technique for increasing the performance of a hardware system. We develop several SystemC/C++ modeling techniques that allow us to quickly model, simulate, and evaluate…

Large and small language models have been widely used for robotic task planning. At the same time, vision-language models (VLMs) have successfully tackled problems such as image captioning, scene understanding, and visual question…

Behavior Trees (BTs) are becoming a popular tool to model the behaviors of autonomous agents in the computer game and the robotics industry. One of the key advantages of BTs lies in their composability, where complex behaviors can be built…

Laboratory robotics offer the capability to conduct experiments with a high degree of precision and reproducibility, with the potential to transform scientific research. Trivial and repeatable tasks; e.g., sample transportation for analysis…

The specification and validation of robotics applications require bridging the gap between formulating requirements and systematic testing. This often involves manual and error-prone tasks that become more complex as requirements, design,…

Accurate representation of procedures in restricted scenarios, such as non-standardized scientific experiments, requires precise depiction of constraints. Unfortunately, Domain-specific Language (DSL), as an effective tool to express…

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…

Context: The OutSystems Platform is a development environment composed of several DSLs, used to specify, quickly build, and validate web and mobile applications. The DSLs allow users to model different perspectives such as interfaces and…

The realization of intelligent robots, operating autonomously and interacting with other intelligent agents, human or artificial, requires the integration of environment perception, reasoning, and action. Classic Artificial Intelligence…

Robots executing tasks following human instructions in domestic or industrial environments essentially require both adaptability and reliability. Behavior Tree (BT) emerges as an appropriate control architecture for these scenarios due to…

In this paper, we show how Behavior Trees that have performance guarantees, in terms of safety and goal convergence, can be extended with components that were designed using machine learning, without destroying those performance guarantees.…

Domain-Specific Languages (DSLs) help practitioners in contributing solutions to challenges of specific domains. The efficient development of user-friendly DSLs suitable for industrial practitioners with little expertise in modelling still…

Domain-specific languages raise the level of abstraction in software development. While it is evident that programmers can more easily reason about very high-level programs, the same holds for compilers only if the compiler has an accurate…

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…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

Generation of software from modeling languages such as UML and domain specific languages (DSLs) has become an important paradigm in software engineering. In this contribution, we present some positions on software development in a model…

Service robots are increasingly entering the home to provide domestic tasks for residents. However, when working in an open, dynamic, and unstructured home environment, service robots still face challenges such as low intelligence for task…