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Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…

As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…

To facilitate the wider adoption of robotics, accessible programming tools are required for non-experts. Observational learning enables intuitive human skills transfer through hands-on demonstrations, but relying solely on visual input can…

Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…

This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and…

In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots. Inspiration comes directly from human walking…

There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…

As social beings, much human behavior is predicated on social context - the ambient social state that includes cultural norms, social signals, individual preferences, etc. In this paper, we propose a socially-aware task and motion planning…

Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…

Humanoid robots require precise locomotion and dexterous manipulation to perform challenging loco-manipulation tasks. Yet existing approaches, modular or end-to-end, are deficient in manipulation-aware locomotion. This confines the robot to…

Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…

We cast real-world humanoid control as a next token prediction problem, akin to predicting the next word in language. Our model is a causal transformer trained via autoregressive prediction of sensorimotor trajectories. To account for the…

Humanoid robots, with their human-like skeletal structure, are especially suited for tasks in human-centric environments. However, this structure is accompanied by additional challenges in locomotion controller design, especially in complex…

We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…

Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed geometric navigation systems with decades of empirical…

An important feature of pervasive, intelligent assistance systems is the ability to dynamically adapt to the current needs of their users. Hence, it is critical for such systems to be able to recognize those goals and needs based on…

Social navigation for bipedal robots remains relatively unexplored due to the highly complex, nonlinear dynamics of bipedal locomotion. This study presents a preliminary exploration of social navigation for bipedal robots in a human crowded…

This paper addresses the limitations of current humanoid robot control frameworks, which primarily rely on reactive mechanisms and lack autonomous interaction capabilities due to data scarcity. We propose Humanoid-VLA, a novel framework…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…