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During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…
For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. However, common issues with occupancy prediction include…
In collaborative tasks, people rely both on verbal and non-verbal cues simultaneously to communicate with each other. For human-robot interaction to run smoothly and naturally, a robot should be equipped with the ability to robustly…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
Effective task representations should facilitate compositionality, such that after learning a variety of basic tasks, an agent can perform compound tasks consisting of multiple steps simply by composing the representations of the…
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…
In the future, service robots are expected to be able to operate autonomously for long periods of time without human intervention. Many work striving for this goal have been emerging with the development of robotics, both hardware and…
This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D…
Continuum soft robots, composed of flexible materials, exhibit theoretically infinite degrees of freedom, enabling notable adaptability in unstructured environments. Cosserat Rod Theory has emerged as a prominent framework for modeling…
While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…
Motion prediction, recently popularized as world models, refers to the anticipation of future agent states or scene evolution, which is rooted in human cognition, bridging perception and decision-making. It enables intelligent systems, such…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
Understanding and predicting environmental phenomena often requires the construction of spatio-temporal statistical models, which are typically Gaussian processes. A common assumption made on Gaussian processes is that of covariance…
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…
Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches have made significant progress, they often focus on improving…
Animals exploit time to survive in the world. Temporal information is required for higher-level cognitive abilities such as planning, decision making, communication, and effective cooperation. Since time is an inseparable part of cognition,…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…