机器人学
Force and torque (F/T) sensing is critical for robot-environment interaction, but physical F/T sensors impose constraints in size, cost, and fragility. To mitigate this, recent studies have estimated force/wrench sensorlessly from robot…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
Object Goal Navigation (ObjectNav) refers to an agent navigating to an object in an unseen environment, which is an ability often required in the accomplishment of complex tasks. While existing methods demonstrate proficiency in isolated…
Musculoskeletal robots offer intrinsic compliance and flexibility, providing a promising paradigm for versatile locomotion. However, existing research typically relies on models with fixed muscle physiological parameters. This static…
Collaborative transport requires robots to infer partner intent through physical interaction while maintaining stable loco-manipulation. This becomes particularly challenging in complex environments, where interaction signals are difficult…
Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps. However, they depend on a static environment assumption…
Indoor fire disasters pose severe challenges to autonomous search and rescue due to dense smoke, high temperatures, and dynamically evolving indoor environments. In such time-critical scenarios, multi-agent cooperative navigation is…
In tendon driven continuum manipulators (TDCMs), reconfiguring the tendon routing enables tailored spatial deformation of the backbone. This work presents a design in which tendons can be rerouted either prior to or after actuation by…
Specular glare on reflective floors and glass surfaces frequently corrupts RGB-D depth measurements, producing holes and spikes that accumulate as persistent phantom obstacles in occupancy-grid costmaps. This paper proposes a…
Although autonomous underwater vehicles promise the capability of marine ecosystem monitoring, their deployment is fundamentally limited by the difficulty of controlling vehicles under highly uncertain and non-stationary underwater…
Training embodied AI agents depends critically on the visual fidelity of simulation environments and the ability to model dynamic humans. Current simulators rely on mesh-based rasterization with limited visual realism, and their support for…
Compensatory trunk movements (CTMs) are commonly observed after stroke and can lead to maladaptive movement patterns, limiting targeted training of affected structures. Objective, continuous detection of CTMs during therapy and activities…
Robots deployed in unstructured environments must coordinate whole-body motion -- simultaneously moving a mobile base and arm -- to interact with the physical world. This coupled mobility and dexterity yields a state space that grows…
Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body controllers (WBCs) can solve such problems…
Long-horizon collaborative vision-language navigation (VLN) is critical for multi-robot systems to accomplish complex tasks beyond the capability of a single agent. CoNavBench takes a first step by introducing the first collaborative…
This position paper looks briefly at the way we attempt to program robotic AI systems. Many AI systems are based on the idea of trying to improve the performance of one individual system to beyond so-called human baselines. However, these…
Vision-Language-Action (VLA) models inherit rich world knowledge from vision-language backbones and acquire executable skills via action demonstrations. However, existing evaluations largely focus on action execution success, leaving action…
Efficient and scalable 3D occupancy mapping is essential for autonomous robot applications in unknown environments. However, traditional occupancy grid representations suffer from two fundamental limitations. First, explicitly storing all…
Autonomous vehicles are increasingly deployed in safety-critical applications, where sensing failures or cyberphysical attacks can lead to unsafe operations resulting in human loss and/or severe physical damages. Reliable real-time…
A class of planar bipedal robots with unique mechanical properties has been proposed, where all links are balanced around the hip joint, preventing natural swinging motion due to gravity. A common property of their equations of motion is…