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Reliable navigation systems have a wide range of applications in robotics and autonomous driving. Current approaches employ an open-loop process that converts sensor inputs directly into actions. However, these open-loop schemes are…
The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due…
Teleoperation is essential for autonomous robot learning, especially in manipulation tasks that require human demonstrations or corrections. However, most existing systems only offer unilateral robot control and lack the ability to…
In recent years, the rapid development of Large Language Models (LLMs) has significantly enhanced natural language understanding and human-computer interaction, creating new opportunities in the field of robotics. However, the integration…
Learning-based decision-making has the potential to enable generalizable Autonomous Driving (AD) policies, reducing the engineering overhead of rule-based approaches. Imitation Learning (IL) remains the dominant paradigm, benefiting from…
In order to clear the world of the threat posed by landmines and other explosive devices, robotic systems can play an important role. However, the development of such field robots that need to operate in hazardous conditions requires the…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
The significant components of any successful autonomous flight system are task completion and collision avoidance. Most deep learning algorithms successfully execute these aspects under the environment and conditions they are trained.…
We introduce ReflectDrive-2, a masked discrete diffusion planner with separate action expert for autonomous driving that represents plans as discrete trajectory tokens and generates them through parallel masked decoding. This discrete token…
Autonomous spacecraft control for mission phases such as launch, ascent, stage separation, and orbit insertion remains a critical challenge due to the need for adaptive policies that generalize across dynamically distinct regimes. While…
We discuss the in-flight autonomous assembly as the means to build advanced planetary science payloads to explore the outer regions of the solar system. These payloads are robotically constructed from modular parts delivered by a group of…
With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air…
Robust and reliable ego-motion is a key component of most autonomous mobile systems. Many odometry estimation methods have been developed using different sensors such as cameras or LiDARs. In this work, we present a resilient approach that…
Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world…
Background: Assistance robots have the potential to increase the independence of people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs offer…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…
This paper introduces an algorithm to perform optimal reorientation of a spacecraft during a high speed flyby mission that maximizes the time a certain target is kept within the field of view of scientific instruments. The method directly…
Dexterous manipulation, particularly adept coordinating and grasping, constitutes a fundamental and indispensable capability for robots, facilitating the emulation of human-like behaviors. Integrating this capability into robots empowers…
In this work, we introduce AXolotl, a self-study aid designed to guide students through the basics of formal reasoning and term manipulation. Unlike most of the existing study aids for formal reasoning, AXolotl is an Android-based…
Vision-Language Action (VLA) models unify perception, reasoning, and trajectory generation for autonomous driving, but suffer from significant inference latency due to deep transformer stacks. We present DeeAD, a training-free,…