机器人学

Distributed multi-robot systems for the home often require robots to operate out of the user's sight, creating a state awareness gap that can diminish trust and perceived transparency and control. This paper investigates whether real-time,…

Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of…

Newcomer children face barriers in acquiring the host country's language and literacy programs are often constrained by limited staffing, mixed-proficiency cohorts, and short contact time. While Socially Assistive Robots (SARs) show promise…

Lack of accessible and dexterous robot hardware has been a significant bottleneck to achieving human-level dexterity in robots. Last year, we released Ruka, a fully open-sourced, tendon-driven humanoid hand with 11 degrees of freedom - 2…

Buffer zones are essential in production systems to decouple sequential processes. In dense floor storage environments, such as space-constrained brownfield facilities, manual operation is increasingly challenged by severe labor shortages…

Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpieces of different shapes and material hardness is challenging…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…

Transferring heavy payloads in maritime settings relies on efficient crane operation, limited by hazardous double-pendulum payload sway. This sway motion is further exacerbated in offshore environments by external perturbations from wind…

Embodied manipulation requires accurate 3D understanding of objects and their spatial relations to plan and execute contact-rich actions. While large-scale 3D vision models provide strong priors, their computational cost incurs prohibitive…

Generating human grasping poses that accurately reflect both object geometry and user-specified interaction semantics is essential for natural hand-object interactions in AR/VR and embodied AI. However, existing semantic grasping approaches…

Recent advances in geometric foundation models have emerged as a promising alternative for addressing the challenge of dense reconstruction in monocular visual simultaneous localization and mapping (SLAM). Although geometric foundation…

Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ultrasonic lubrication as a method to…

Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only…

While imitation learning (IL) has achieved impressive success in dexterous manipulation through generative modeling and pretraining, state-of-the-art approaches like Vision-Language-Action (VLA) models still struggle with adaptation to…

Vision-Language-Action models have emerged as essential generalist robot policies for diverse manipulation tasks, conventionally relying on directly translating multimodal inputs into actions via Vision-Language Model embeddings. Recent…

Vision-Language-Action (VLA) models have recently shown strong generalization, with some approaches seeking to explicitly generate linguistic reasoning traces or predict future observations prior to execution. However, explicit reasoning…

In this paper, we explore an important yet underexplored task in robot manipulation: cycle-based manipulation, where robots need to perform cyclic or repetitive actions with an expected terminal time. These tasks are crucial in daily life,…

Conventional suction cups lack sensing capabilities for contact-aware manipulation in unstructured environments. This paper presents FlexiCup, a multimodal suction cup with wireless electronics that integrate dual-zone vision-tactile…

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We…

Advances in open-vocabulary semantic mapping and object navigation have enabled robots to perform an informed search of their environment for an arbitrary object. However, such zero-shot object navigation is typically designed for simple…