Related papers: VRA: Grounding Discrete-Time Joint Acceleration in…

Presented in this paper is an actuator concept, called a Parallel Force/Velocity Actuator (PFVA), that combines two fundamentally distinct actuators (one using low gear reduction or even direct drive, which we will call a Force Actuator…

Embodied visual tracking is crucial for Unmanned Aerial Vehicles (UAVs) executing complex real-world tasks. In dynamic urban scenarios with complex semantic requirements, Vision-Language-Action (VLA) models show great promise due to their…

Charged particle accelerators play a pivotal role in scientific research, industry, and medical applications. Among them, radiofrequency (RF) accelerators offer a promising approach for achieving high-energy particle acceleration in compact…

This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in…

In this paper, a novel concept combining a fixed field alternating gradient accelerator with time-varying quadrupoles is presented which solves some of the major problems of conventional fixed field accelerators. This concept combines a…

Many robotic manipulation tasks require sensing and responding to force signals such as torque to assess whether the task has been successfully completed and to enable closed-loop control. However, current Vision-Language-Action (VLA)…

The simulation of systems that act on multiple time scales is challenging. A stable integration of the fast dynamics requires a highly accurate approximation whereas for the simulation of the slow part, a coarser approximation is accurate…

Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…

Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…

Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in robotic manipulation,enabling robots to execute natural language commands through end-to-end learning from visual observations.However, deploying large-scale…

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…

Vision Transformer models, such as ViT, Swin Transformer, and Transformer-in-Transformer, have recently gained significant traction in computer vision tasks due to their ability to capture the global relation between features which leads to…

We adapt a pre-trained Vision-Language-Action (VLA) model (Open-VLA) for dexterous human-robot collaboration with minimal language prompting. Our approach adds (i) FiLM conditioning to visual backbones for task-aware perception, (ii) an…

Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single operating frequency. This design ignores the mismatched sampling…

An asynchronous, variational method for simulating elastica in complex contact and impact scenarios is developed. Asynchronous Variational Integrators (AVIs) are extended to handle contact forces by associating different time steps to…

Reinforcement learning (RL) for large-scale Vision-Language-Action (VLA) models faces significant challenges in computational efficiency and data acquisition. We propose AcceRL, a fully asynchronous and decoupled RL framework designed to…

Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…

In recent years, Vision-Language-Action (VLA) models have become a vital research direction in robotics due to their impressive multimodal understanding and generalization capabilities. Despite the progress, their practical deployment is…

Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…

Computer Use Agents (CUAs) translate natural-language instructions into Graphical User Interface (GUI) actions such as clicks, keystrokes, and scrolls by relying on a Vision-Language Model (VLM) to interpret screenshots and predict grounded…