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

Decision trees (DTs) epitomize the ideal of interpretability of machine learning (ML) models. The interpretability of decision trees motivates explainability approaches by so-called intrinsic interpretability, and it is at the core of…

One of the most appreciated features of Fault Trees (FTs) is their simplicity, making them fit into industrial processes. As such processes evolve in time, considering new aspects of large modern systems, modelling techniques based on FTs…

Temporal logic can be used to formally specify autonomous agent goals, but synthesizing planners that guarantee goal satisfaction can be computationally prohibitive. This paper shows how to turn goals specified using a subset of finite…

In this letter we show how to improve the performance of backward chained behavior trees (BTs) that use reinforcement learning (RL). BTs represent a hierarchical and modular way of combining control policies into higher level control…

The Abstraction Refinement Model has been widely adopted since it was firstly proposed many decades ago. This powerful model of software evolution process brings important properties into the system under development, properties such as the…

Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…

We define a domain-specific language (DSL) to inductively assemble flow networks from small networks or modules to produce arbitrarily large ones, with interchangeable functionally-equivalent parts. Our small networks or modules are "small"…

Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…

We introduce ai.txt, a novel domain-specific language (DSL) designed to explicitly regulate interactions between AI models, agents, and web content, addressing critical limitations of the widely adopted robots.txt standard. As AI…

In this work, we present an approach to identify sub-tasks within a demonstrated robot trajectory using language instructions. We identify these sub-tasks using language provided during demonstrations as guidance to identify sub-segments of…

Neural scaling laws have driven significant advancements in machine learning, particularly in domains like language modeling and computer vision. However, the exploration of neural scaling laws within robotics has remained relatively…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

While LLMs excel in processing text in these human conversations, they struggle with the nuances of verbal instructions in scenarios like social navigation, where ambiguity and uncertainty can erode trust in robotic and other AI systems. We…

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…

Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…

We are interested in supporting software evolution caused by changing requirements and/or environmental settings. For example, users of a system may require new functionality (changing requirements), or performance enhancements to cope with…

Video game development is currently a very labour-intensive endeavour. Furthermore it involves multi-disciplinary teams of artistic content creators and programmers, whose typical working patterns are not easily meshed. SAGA is our first…

Robustness is key to engineering, automation, and science as a whole. However, the property of robustness is often underpinned by costly requirements such as over-provisioning, known uncertainty and predictive models, and known adversaries.…

Behavior Trees (BTs) are high-level controllers that are useful in a variety of planning tasks and are gaining traction in robotic mission planning. As they gain popularity in safety-critical domains, it is important to formalize their…

Maintaining an acceptable level of quality of service in modern complex systems is challenging, particularly in the presence of various forms of uncertainty caused by changing execution context, unpredicted events, etc. Although…