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The study of organoids, artificially grown cell aggregates with the functionality and small-scale anatomy of real organs, is one of the most active areas of research in biology and biophysics, yet the basic physical origins of their…
The ability to adapt to physical actions and constraints in an environment is crucial for embodied agents (e.g., robots) to effectively collaborate with humans. Such physically grounded human-AI collaboration must account for the increased…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
The growth and scaling of organs is a fundamental aspect of animal development. However, how organs grow to the right size and shape required by physiological demands, remains largely unknown. Here, we provide a framework combining theory…
A key challenge in modern computing is to develop systems that address complex, dynamic problems in a scalable and efficient way, because the increasing complexity of software makes designing and maintaining efficient and flexible systems…
Advances in 3D generative AI have enabled the creation of physical objects from text prompts, but challenges remain in creating objects involving multiple component types. We present a pipeline that integrates 3D generative AI with…
Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…
An emerging theme across many domains of science and engineering is materials that change shape, often dramatically. Determining their structure involves solving a shape optimization problem where a given energy functional is minimized with…
Foundation models pre-trained on web-scale data are shown to encapsulate extensive world knowledge beneficial for robotic manipulation in the form of task planning. However, the actual physical implementation of these plans often relies on…
Many living organisms can exploit quantum mechanical effects to gain distinct biological advantages. In plants, photosynthesis uses quantum coherence to achieve near 100% efficiency in energy transfer. With advances in experimental…
This paper argues that self-awareness is a learned behavior that emerges in organisms whose brains have a sufficiently integrated, complex ability for associative learning and memory. Continual sensory input of information related to the…
The term ``neuromorphic'' refers to systems that are closely resembling the architecture and/or the dynamics of biological neural networks. Typical examples are novel computer chips designed to mimic the architecture of a biological brain,…
View-based methods have demonstrated promising performance in 3D shape understanding. However, they tend to make strong assumptions about the relations between views or learn the multi-view correlations indirectly, which limits the…
Shape-morphing soft materials can enable diverse target morphologies through voxel-level material distribution design, offering significant potential for various applications. Despite progress in basic shape-morphing design with simple…
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
Many living and non-living complex systems can be modeled and understood as collective systems made of heterogeneous components that self-organize and generate nontrivial morphological structures and behaviors. This chapter presents a brief…
Simulation tools are essential for robotics research, especially for those domains in which safety is crucial, such as Human-Robot Collaboration (HRC). However, it is challenging to simulate human behaviors, and existing robotics simulators…
This paper describes our research on AI agents embodied in visual, virtual or physical forms, enabling them to interact with both users and their environments. These agents, which include virtual avatars, wearable devices, and robots, are…
Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…
Context Oriented Programming (COP) concerns the ability of programs to adapt to changes in their running environment. A number of programming languages endowed with COP constructs and features have been developed. However, some foundational…