机器人学
Recent advancements in virtual reality and robotic teleoperation have greatly increased the variety of haptic information that must be conveyed to users. While existing haptic devices typically provide unimodal feedback to enhance…
We present QuadAgent, a training-free agent system for agile quadrotor flight guided by vision-language inputs. Unlike prior end-to-end or serial agent approaches, QuadAgent decouples high-level reasoning from low-level control using an…
Accurate 6D object pose estimation is a fundamental capability for embodied agents, yet remains highly challenging in open-world environments. Many existing methods often rely on closed-set assumptions or geometry-agnostic regression…
Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…
Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…
Multimodal large language models (MLLMs) have shown strong potential for autonomous driving, yet existing benchmarks remain largely ego-centric and therefore cannot systematically assess model performance in infrastructure-centric and…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
Odometry estimation using light detection and ranging (LiDAR) and an inertial measurement unit (IMU), known as LiDAR-inertial odometry (LIO), often suffers from performance degradation in degenerate environments, such as long corridors or…
Modern robots embody power and precision control. Yet, as robots undertake tasks that apply forces on humans, this power brings risk of injury. Soft robotic actuators use deformation to produce smooth, continuous motions and conform to…
Robots that traverse natural terrain must interpret contact forces generated under highly dynamic conditions. However, most terrain characterization approaches rely on quasi-static assumptions that neglect velocity- and…
Position controllers have become the dominant interface for executing learned manipulation policies. Yet a critical design decision remains understudied: how should we choose controller gains for policy learning? The conventional wisdom is…
Hybrid state estimators that combine model-based Kalman filtering with learned components have shown promise on simulated data, yet their performance on real-world automotive data remains insufficient. In this work we present Adaptive…
This paper revisits three backup-based safety filters -- Backup Control Barrier Functions (Backup CBF), Model Predictive Shielding (MPS), and gatekeeper -- through a unified comparative framework. Using a common safety-filter abstraction…
The reliable operation of Unmanned Underwater Vehicle (UUV) clusters is highly dependent on continuous acoustic communication. However, this communication method is highly susceptible to intermittent interruptions. When communication…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…
Deploying learning-based controllers across heterogeneous robots is challenging due to platform differences, inconsistent interfaces, and inefficient middleware. To address these issues, we present UniCon, a lightweight framework that…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
In this work, we propose a simulator, based on the open-source physics engine MuJoCo, for the design and control of soft robotic nets for the autonomous removal of space debris. The proposed simulator includes net dynamics, contact between…
In embodied AI, visual perception should be active rather than passive: the system must decide where to look and at what scale to sense to acquire maximally informative data under pixel and spatial budget constraints. Existing vision models…
Autonomous underwater vehicles rely on precise navigation systems that combine the inertial navigation system and the Doppler velocity log for successful missions in challenging environments where satellite navigation is unavailable. The…