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The rapid evolution of next-generation communications and the Internet of Things (IoT) has catalyzed an urgent demand for governing expansive spatial environments as functional electromagnetic (EM) entities. However, deterministically…
Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the…
Human computer interaction is shifting from screen-based systems to multimodal interfaces where artificial intelligence powered systems increasingly interpret user intent through speech, gesture, and gaze. Yet users rarely understand how…
To extend the limited scope of autonomy used in prior missions for operation in distant and complex environments, there is a need to further develop and mature autonomy that jointly reasons over multiple subsystems, which we term…
Model merging leverages multiple finetuned expert models to construct a multi-task model with low cost, and is gaining increasing attention. However, as a growing number of finetuned models become publicly available, concerns about the…
Much like classical supercomputers, scaling up quantum computers requires an optical interconnect. However, signal attenuation leads to irreversible qubit loss, making quantum interconnect design guidelines and metrics different from…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
The Industry 4.0 paradigm promises shorter development times, increased ergonomy, higher flexibility, and resource efficiency in manufacturing environments. Collaborative robots are an important tangible technology for implementing such a…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
Robotics and automation have the potential to significantly improve quality of life for people with assistive needs and their carers. Adoption of such technologies at this point in time is far from widespread. This paper presents a novel…
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…
Very High Throughput satellites typically provide multibeam coverage, however, a common problem is that there can be a mismatch between the capacity of each beam and the traffic demand: some beams may fall short, while others exceed the…
Imagine a swarm of terrestrial robots that can explore an environment, and, upon completion of this task, reconfigure into a spherical ball and roll out. This dimensional change alters the dynamics of locomotion and can assist them to…
Indoor localization is a cornerstone of mobile services. Until now most of the research effort has focused on achieving sub-meter localization accuracy because many mobile applications depend on precise localization measurements. In some…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
In most macro-scale robotics systems , propulsion and controls are enabled through a physical tether or complex on-board electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while…
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…
We present Trust<T>, a general, type- and memory-safe alternative to locking in concurrent programs. Instead of synchronizing multi-threaded access to an object of type T with a lock, the programmer may place the object in a Trust<T>. The…
Metarobotics aims to combine next generation wireless communication, multi-sense immersion, and collective intelligence to provide a pervasive, itinerant, and non-invasive access and interaction with distant robotized applications. Industry…