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The use of machine learning in cyber-physical systems has attracted the interest of both industry and academia. However, no general solution has yet been found against the unpredictable behavior of neural networks and reinforcement learning…
Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…
Research on sixth-generation (6G) integrated sensing and communication (ISAC) increasingly depends on multimodal datasets. These datasets need to jointly characterize wireless propagation, onboard sensing, and platform mobility. Existing…
The rise of embodied AI has greatly improved the possibility of general mobile agent systems. At present, many evaluation platforms with rich scenes, high visual fidelity and various application scenarios have been developed. In this paper,…
Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…
The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption of robot learning in this domain is severely hindered by the…
Object recognition has made great advances in the last decade, but predominately still relies on many high-quality training examples per object category. In contrast, learning new objects from only a few examples could enable many impactful…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
We present Habitat, a platform for research in embodied artificial intelligence (AI). Habitat enables training embodied agents (virtual robots) in highly efficient photorealistic 3D simulation. Specifically, Habitat consists of: (i)…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
Building general-purpose robots to perform a diverse range of tasks in a large variety of environments in the physical world at the human level is extremely challenging. It requires the robot learning to be sample-efficient, generalizable,…
Educational simulations have long been recognized as powerful tools for enhancing learning outcomes, yet their creation has traditionally required substantial resources and technical expertise. This paper introduces MicroSims a novel…
The Michigan Robotics MBot is a low-cost mobile robot platform that has been used to train over 1,400 students in autonomous navigation since 2014 at the University of Michigan and our collaborating colleges. The MBot platform was designed…
Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture…
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical…
This paper introduces Unity RL Playground, an open-source reinforcement learning framework built on top of Unity ML-Agents. Unity RL Playground automates the process of training mobile robots to perform various locomotion tasks such as…
MimicKit is an open-source framework for training motion controllers using motion imitation and reinforcement learning. The codebase provides implementations of commonly-used motion-imitation techniques and RL algorithms. This framework is…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
As a representative cyber-physical system (CPS), robotic manipulator has been widely adopted in various academic research and industrial processes, indicating its potential to act as a universal interface between the cyber and the physical…
We present iGibson 1.0, a novel simulation environment to develop robotic solutions for interactive tasks in large-scale realistic scenes. Our environment contains 15 fully interactive home-sized scenes with 108 rooms populated with rigid…