Recent years have seen an unprecedented spread of Unmanned Aerial Vehicles (UAVs, or
“drones”), which are highly useful for both civilian and military applications. Flight safety is a …

Humans are able to form a complex mental model of the environment they move in. This
mental model captures geometric and semantic aspects of the scene, describes the …

Simultaneous localization and mapping (SLAM) consists in the concurrent construction of a
model of the environment (the map), and the estimation of the state of the robot moving …

We present a unified representation for actionable spatial perception: 3D Dynamic Scene
Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (eg …

Autonomous service robots will have to understand vaguely described tasks, such as “set
the table” or “clean up”. Performing such tasks as intended requires robots to fully, precisely …

Truly universal helper robots capable of coping with unknown, unstructured environments
must be capable of spatial reasoning, ie establishing geometric relations between objects …

This paper presents INVIGORATE, a robot system that interacts with human through natural
language and grasps a specified object in clutter. The objects may occlude, obstruct, or even …

In order to robustly perform tasks based on abstract instructions, robots need sophisticated
knowledge processing methods. These methods have to supply the difference between the …

This paper presents INGRESS, a robot system that follows human natural language
instructions to pick and place everyday objects. The core issue here is the grounding of …

Within the realm of service robotics, researchers have placed a great amount of effort into
learning, understanding, and representing motions as manipulations for task execution by …