Computer Science

Robot manipulation critically depends on perception that preserves the action-relevant aspects of a scene. Yet most robot learning pipelines are built upon visual encoders pre-trained for static recognition or vision-language alignment,…

The ability to reason, adapt, and creatively solve problems under unexpected challenges is essential for robots operating in real-world environments. However, current robotic benchmarks primarily emphasize skill-level execution and provide…

Portrait photography is largely decided before the shutter opens: the subject's pose, the camera configuration, and the lighting devices must be coordinated within the surrounding 3D scene. In contrast, most existing computational methods…

Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-centric execution path. This paradigm has greatly improved…

Vision-Language-Action (VLA) models have recently shown strong potential for robot learning by following language instructions. However, in practice, language alone is often insufficient to precisely convey human intent. It is difficult to…

Embodied intelligence is often studied through specialized models for individual tasks such as manipulation or navigation, resulting in fragmented capabilities and limited generalization across tasks, environments, and robot embodiments. In…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for grounding visual-language understanding into real-world robotic manipulation. However, dexterous manipulation remains challenging for VLA policies due to…

Recent advances in reinforcement learning (RL) have achieved great successes by leveraging the multimodality and exploration capability of diffusion policies. Among these approaches, one representative branch focuses on the sampling-based…

Robot behavior is often validated through simulation-based testing, yet the replicability of such campaigns depends critically on transparent documentation of how tests are configured, executed, and post-processed. We argue that data…

Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when updates drift off the training manifold. We propose Fisher…

Multi-step robot manipulation requires acting under uncertainty about how the scene will evolve, making exploration and policy adaptation challenging. We study whether short-horizon, task-consistent future videos can provide useful…

Intelligent wearable technology plays an increasingly important role in human-computer interaction, motion, and health monitoring. To ensure comfort and practicality of use, one common form for motion monitoring is to utilize soft wearable…

Imitation learning has become a cornerstone for solving complex robotic manipulation tasks. In particular, multimodality, which enables robots to capture diverse yet valid behavioral patterns, has driven the rapid emergence of generative…

Real-world evaluation of vision-language-action (VLA) policies still rests on binary success rate at a fixed timeout with $N \le 25$ rollouts per condition, almost always without confidence intervals or paired statistical comparison; these…

Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, which results in excessive computational load. To achieve…

Ground robots often carry payloads, implements, or other attachments that turn their effective footprint into complex, non-convex shapes. Navigating safely through clutter then requires reasoning about this true geometry, yet most local…

Confidence estimation for Vision-Language-Action (VLA) models is essential for robots to perform manipulation tasks in the open world, providing crucial signals for risk-sensitive decision-making and failure anticipation. Existing…

Semantic segmentation is crucial for autonomous navigation in off-road environments, enabling precise classification of surroundings to identify traversable regions. However, distinctive factors inherent to off-road conditions, such as…

Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…

When using reinforcement learning (RL) for contact-rich robotic manipulation, vision can provide task-relevant information that accelerates learning beyond what proprioception alone can achieve. However, vision-enabled policies tend to…