机器人学
J-PARSE is an algorithm for smooth first-order inverse kinematic control of a serial manipulator near kinematic singularities. The commanded end-effector velocity is interpreted component-wise, according to the available mobility in each…
The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…
We present Scalable Multi-Agent Realistic Testbed (SMART), a realistic and efficient software tool for evaluating Multi-Agent Path Finding (MAPF) algorithms. MAPF focuses on planning collision-free paths for a group of robots. While…
Vision-language-action models (VLAs) show potential as generalist robot policies. However, these models pose extreme safety challenges during real-world deployment, including the risk of harm to the environment, the robot itself, and…
As space becomes increasingly crowded and contested, robust autonomous capabilities for multi-agent environments are gaining critical importance. Current autonomous systems in space primarily rely on optimization-based path planning or…
The realization of Urban Air Mobility (UAM) necessitates scalable global path planning algorithms capable of ensuring safe navigation within complex urban environments. This paper proposes a multi-scale risk-aware cell decomposition method…
In areas that are inaccessible to humans, such as the lunar surface and landslide sites, there is a need for multiple autonomous mobile robot systems that can replace human workers. In particular, at landslide sites such as river channel…
Coordinating multi-robot systems (MRS) to search in unknown environments is particularly challenging for tasks that require semantic reasoning beyond geometric exploration. Classical coordination strategies rely on frontier coverage or…
Consumer LiDARs in mobile devices and robots typically output a single depth value per pixel. Yet internally, they record full time-resolved histograms containing direct and multi-bounce light returns; these multi-bounce returns encode rich…
Diffusion policies are becoming mainstream in robotic manipulation but suffer from hard negative class imbalance due to uniform sampling and lack of sample difficulty awareness, leading to slow training convergence and frequent inference…
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally limited by low axial stiffness, poor…
Multi-UAV inspection missions require spare drones to replace active drones during recharging cycles. Existing fleet-sizing approaches often assume steady-state operating conditions that do not apply to finite-horizon missions, or they…
Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing actuator enables real-time transition between these topologies during operation. This paper presents a novel actuator design called…
Lamarckian inheritance has been shown to be a powerful accelerator in systems where the joint evolution of robot morphologies and controllers is enhanced with individual learning. Its defining advantage lies in the offspring inheriting…
Learning robust robot policies in real-world environments requires diverse data augmentation, yet scaling real-world data collection is costly due to the need for acquiring physical assets and reconfiguring environments. Therefore,…
Reinforcement learning (RL) often struggles in real-world tasks with high-dimensional state spaces and long horizons, where sparse or fixed rewards severely slow down exploration and cause agents to get trapped in local optima. This paper…
Vision-Language-Action (VLA) models have demonstrated significant potential for embodied decision-making; however, their application in complex chemical laboratory automation remains restricted by limited long-horizon reasoning and the…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
Reconstructing the shape of continuum manipulators from sparse, noisy sensor data is a challenging task, owing to the infinite-dimensional nature of such systems. Existing approaches broadly trade off between parametric methods that yield…
Gaussian splatting has recently gained traction as a compelling map representation for SLAM systems, enabling dense and photo-realistic scene modeling. However, its application to monocular SLAM remains challenging due to the lack of…