Related papers: RAPID: Reconfigurable, Adaptive Platform for Itera…
Current robotic pick-and-place policies typically require consistent gripper configurations across training and inference. This constraint imposes high retraining or fine-tuning costs, especially for imitation learning-based approaches,…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
In this work we present RAPID, the first joint communication and radar system based on next-generation IEEE 802.11ay WiFi networks operating in the 60 GHz band. Unlike existing approaches for human sensing at millimeter-wave frequencies,…
We present an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen terrains. Existing methods often depend on heuristics for real-time foothold selection-limiting robustness and adaptability-or rely…
Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this challenge, we propose RoboMAP, a framework that represents…
Recently a lot of multimedia applications are emerging on portable appliances. They require both the flexibility of upgradeable devices (traditionally software based) and a powerful computing engine (typically hardware). In this context,…
We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
Gripper-in-hand data collection decouples demonstration acquisition from robot hardware, but whether a trajectory is executable on the target robot remains unknown until a separate replay-and-validate stage. Failed demonstrations therefore…
Fabricating existing and popular open-source adaptive robotic grippers commonly involves using multiple professional machines, purchasing a wide range of parts, and tedious, time-consuming assembly processes. This poses a significant…
Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes an approach to generate and experimentally validate such…
Clinical diagnosis is a highly specialized discipline requiring both domain expertise and strict adherence to rigorous guidelines. While current AI-driven medical research predominantly focuses on knowledge graphs or natural text…
We propose an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen terrains. Existing approaches either rely on heuristics for instantaneous foothold selection--compromising safety and…
We introduce a computationally efficient method for the automation of inverse design in science and engineering. Based on simple least-square regression, the underlying dynamic mode decomposition algorithm can be used to construct a…
Mobile edge computing (MEC) has been regarded as a promising technique to support latencysensitivity and computation-intensive serves. However, the low offloading rate caused by the random channel fading characteristic becomes a major…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
Successfully manipulating many everyday objects, such as potato chips, requires precise force regulation. Failure to modulate force can lead to task failure or irreversible damage to the objects. Humans can precisely achieve this by…