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Large-scale data has driven breakthroughs in robotics, from language models to vision-language-action models in bimanual manipulation. However, humanoid robotics lacks equally effective data collection frameworks. Existing humanoid…
Flapping-Wing Micro Aerial Vehicles (FWMAVs) provide exceptional maneuverability and aerodynamic efficiency but pose significant challenges for onboard control due to nonlinear dynamics and stringent Size, Weight, and Power (SWaP)…
Understanding objects through multiple sensory modalities is fundamental to human perception, enabling cross-sensory integration and richer comprehension. For AI and robotic systems to replicate this ability, access to diverse, high-quality…
This study focuses on edge computing in dense millimeter wave vehicle-to-everything (V2X) networks. A control problem is formulated to minimize the energy consumption under delay constraint resulting from vehicle mobility. A tractable…
Quadrupedal robots have emerged as versatile agents capable of locomoting and manipulating in complex environments. Traditional designs typically rely on the robot's inherent body parts or incorporate top-mounted arms for manipulation…
Generalizable humanoid loco-manipulation poses significant challenges, requiring coordinated whole-body control and precise, contact-rich object manipulation. To address this, this paper introduces HOMIE, a semi-autonomous teleoperation…
Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…
In this paper, we perform robot manipulation activities in real-world environments with language contexts by integrating a compact referring image segmentation model into the robot's perception module. First, we propose CLIPU$^2$Net, a…
Individual agents in a multi-agent system (MAS) may have decoupled open-loop dynamics, but a cooperative control objective usually results in coupled closed-loop dynamics thereby making the control design computationally expensive. The…
A large portion of passenger requests is reportedly unserviced, partially due to vacant for-hire drivers' cruising behavior during the passenger seeking process. This paper aims to model the multi-driver repositioning task through a mean…
Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This progress suggests that extending these capabilities to…
Teleoperation of mobile manipulators within a home environment can significantly enhance the independence of individuals with severe motor impairments, allowing them to regain the ability to perform self-care and household tasks. There is a…
Imitation learning from human demonstrations has shown impressive performance in robotics. However, most results focus on table-top manipulation, lacking the mobility and dexterity necessary for generally useful tasks. In this work, we…
During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks…
Movement disorders impact muscle strength and mobility, and despite therapeutic efforts, many people with movement disorders have challenges functioning independently. Soft wearable robots, or exosuits, offer a promising solution for…
The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research interest. Multiple smaller platforms are available for…
Fine manipulation tasks, such as threading cable ties or slotting a battery, are notoriously difficult for robots because they require precision, careful coordination of contact forces, and closed-loop visual feedback. Performing these…
This article presents the design of the autonomous humanoid robot called NAO that is built by the French company Aldebaran-Robotics. With its height of 0.57 m and its weight about 4.5 kg, this innovative robot is lightweight and compact. It…
The scarcity of large-scale, high-quality demonstration data remains a bottleneck in scaling imitation learning for robotic manipulation. We present COBALT, a teleoperation platform designed to democratize robot learning at scale both in…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…