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Multimodal Large Language Models (MLLMs) demonstrate remarkable image-language capabilities, but their widespread use faces challenges in cost-effective training and adaptation. Existing approaches often necessitate expensive language model…

Optical Doppler shift demonstration experiments are not a simple task since the light source cannot usually be moved in a sufficiently smooth and uniform manner to keep the level of noise well below of that of the signal. For that reason…

In order to evaluate the potential of MEMS deformable mirrors for open-loop applications, a complete calibration process was performed on a 1024-actuator mirror. The mirror must be perfectly calibrated to obtain deterministic membrane…

This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…

We propose a method that enables large language models (LLMs) to control embodied agents through the generation of control policies that directly map continuous observation vectors to continuous action vectors. At the outset, the LLMs…

Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardware is yet missing. In this study, we emulate muscle…

Experiments to understand the sensorimotor neural interactions in the human cortical speech system support the existence of a bidirectional flow of interactions between the auditory and motor regions. Their key function is to enable the…

Automating garment manipulation poses a significant challenge for assistive robotics due to the diverse and deformable nature of garments. Traditional approaches typically require separate models for each garment type, which limits…

With rapid advances in code generation, reasoning, and problem-solving, Large Language Models (LLMs) are increasingly applied in robotics. Most existing work focuses on high-level tasks such as task decomposition. A few studies have…

Visual-to-auditory sensory substitution devices can assist the blind in sensing the visual environment by translating the visual information into a sound pattern. To improve the translation quality, the task performances of the blind are…

Can a multimodal language model learn to manipulate physical objects by reasoning about its own failures-without gradient updates, demonstrations, or reward engineering? We argue the answer is yes, under conditions we characterise…

Sampling-based model predictive control (MPC) has the potential for use in a wide variety of robotic systems. However, its unstable updates and poor convergence render it unsuitable for real-time control of robotic systems. This study…

The recent surge of interest in temporal modulation schemes to induce magnet-free non-reciprocity has inspired several exciting opportunities for photonic technology. Here, we investigate a scheme to realize free-space isolators and highly…

Conventional Feedback-Linearization-based controller, applied to the tilt-rotor (eight inputs), results in the extensive changes in the tilting angles, which are not expected in practice. To solve this problem, we introduce the novel…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Robots are increasingly common in industry and daily life, such as in nursing homes where they can assist staff. A key challenge is developing intuitive interfaces for easy communication. The use of Large Language Models (LLMs) like GPT-4…

The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable…

The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…

This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…

Despite rapid progress in text-to-speech (TTS), open-source systems still lack truly instruction-following, fine-grained control over core speech attributes (e.g., pitch, speaking rate, age, emotion, and style). We present VoiceSculptor, an…