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One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained challenging in practice due to the complexities in humanoid…
Robotic laparoscopic surgery has gained increasing attention in recent years for its potential to deliver more efficient and precise minimally invasive procedures. However, adoption of surgical robotic platforms remains largely confined to…
Legged robots constructed from soft materials are commonly claimed to demonstrate safer, more robust environmental interactions than their rigid counterparts. However, this motivating feature of soft robots requires more rigorous…
Humanoid robotics is a promising field because the strong human preference to interact with anthropomorphic interfaces. Despite this, humanoid robots are far from reaching main stream adoption and the features available in such robots seem…
Spider monkeys (genus Ateles) have a prehensile tail that functions as a flexible, multipurpose fifth limb, enabling them to navigate complex terrains, grasp objects of various sizes, and swing between supports. Inspired by the spider…
Humanoid robots hold significant potential in accomplishing daily tasks across diverse environments thanks to their flexibility and human-like morphology. Recent works have made significant progress in humanoid whole-body control and…
Open-sourced, user-friendly tools form the bedrock of scientific advancement across disciplines. The widespread adoption of data-driven learning has led to remarkable progress in multi-fingered dexterity, bimanual manipulation, and…
The confluence of soft robotics and fluidic logic have sparked innovations in integrated robots with superior flexibility and potential machine intelligence. However, current fluidically driven soft robots suffer from either a large number…
The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the higher number of degrees-of-freedom and the increased weight…
Scaling Vision-Language-Action models for embodied manipulation demands large volumes of diverse manipulation data, yet the high cost of commercial mobile manipulators and teleoperation interfaces that are difficult to deploy at scale…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…
Machines with human-level intelligence should be able to do most economically valuable work. This aligns a major economic incentive with the scientific grand challenge of building a human-like mind. Here we describe our approach to building…
Emerging wearable robotics demand design approaches that address not only function, but also social meaning. In response, we present Sumbrella, a soft robotic garment developed as a speculative fashion probe. We first detail the design and…
While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. In particular, agile parkour in complex…
Scaling up robot learning is hindered by the scarcity of robotic demonstrations, whereas human videos offer a vast, untapped source of interaction data. However, bridging the embodiment gap between human hands and robot arms remains a…
This paper critically analyzes conventional and biomimetic robotic arms, underscoring the trade-offs between size, motion range, and load capacity in current biomimetic models. By delving into the human shoulder's mechanical intelligence,…
While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…
Humanoid robots have demonstrated strong capabilities for interacting with static scenes across locomotion and manipulation, yet dynamic real-world interactions remain challenging. As a step toward fast-moving object interactions, we…
For robotic manipulation, existing robotics datasets and simulation benchmarks predominantly cater to robot-arm platforms. However, for humanoid robots equipped with dual arms and dexterous hands, simulation tasks and high-quality…