We describe several algorithms used for the inference of linguistic robot policies from human demonstration. First, tracking and match objects using the Hungarian Algorithm. Then, we convert Regular Expressions to ...

We present an efficient and powerful algorithm for detecting openings. Openings indicate the existence of a new path for the robot. The reliable detection of new openings is especially relevant to the domain of Navigation ...

Recently, research on humanoid-type robots has become increasingly active, and a broad array of fundamental issues are under investigation. However, in order to achieve a humanoid robot which can operate in human environments, ...

We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained motion for joint space planners and develops ...

This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of Navigation Among Movable Obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various ...

This paper presents artificial constraints as a method for guiding heuristic search in the computationally challenging domain of motion planning among movable obstacles. The robot is permitted to manipulate unspecified ...

We present the Motion Grammar: an approach to represent and verify robot control policies based on Context-Free Grammars. The production rules of the grammar represent a top-down task decomposition of robot behavior. ...

We demonstrate the automatic transfer of an assembly task from human to robot. This work extends efforts showing the utility of linguistic models in verifiable robot control policies by now performing real visual analysis ...

We present a new Interprocess Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating drivers, controllers, and algorithms in complex robotic systems such as humanoid robots. Ach eliminates ...