This technical report contains the 14 accepted papers presented at the Workshop on Goal Reasoning, which was held as part of the 2015 Conference on Advances in Cognitive Systems (ACS-15) in Atlanta, Georgia on 28 May ...

Long-term human-robot interaction, especially in the case of humanoid robots, requires an adaptable and varied behavior base. In this work we present a method for capturing, or learning, sequential tasks by transferring ...

The real world is complex, unstructured, and contains high levels of uncertainty. Although past work shows that robots can successfully operate in situations where a single skill is needed, they will need a framework that ...

Robots are destined to move beyond the caged factory floors towards domains where they will be interacting closely with humans. They will encounter highly varied environments, scenarios and user demands. As a result, ...

We present a software synthesis method for speed- controlled robot walking based on supervisory control of a context-free Motion Grammar. First, we use Human-Inspired control to identify parameters for fixed speed walking ...

We present and analyze the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and control that provides both fast online control of robots in uncertain environments and the ...

In this paper we propose a novel method for large-scale dense 3D reconstruction from stereo imagery. Assuming that stereo camera calibration and camera motion are known, our method is able to reconstruct accurately dense ...

State estimation is an integral part of many robotic systems. It is particularly important in the realm of high performance ground vehicles where systems must be real-time, robust, and accurate. This project aims to tackle ...

Roboticists have long envisioned fully-automated robots that can operate reliably in unstructured environments. This is an exciting but extremely difficult problem; in order to succeed, robots must reason about sequential ...