机器人学
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
Parameter estimation in robotics and computer vision faces formidable challenges from both outlier contamination and nonconvex optimization landscapes. While M-estimation addresses the problem of outliers through robust loss functions, it…
Two distinct technologies have gained attention lately due to their prospects for motor rehabilitation: robotics and brain-machine interfaces (BMIs). Harnessing their combined efforts is a largely uncharted and promising direction that has…
We present Swim2Real, a pipeline that calibrates a 16-parameter robotic fish simulator from swimming videos using vision-language model (VLM) feedback, requiring no hand-designed search stages. Calibrating soft aquatic robots is…
Vision-based policies are widely applied in robotics for tasks such as manipulation and locomotion. On lightweight mobile robots, however, they face a trilemma of limited scene transferability, restricted onboard computation resources, and…
Time-of-Flight (ToF) cameras possess compact design and high measurement precision to be applied to various robot tasks. However, their limited sensing range restricts deployment in large-scale scenarios. Depth completion has emerged as a…
The development of embodied AI systems is increasingly constrained by the availability and structure of physical interaction data. Despite recent advances in vision-language-action (VLA) models, current pipelines suffer from high data…
Language models (LMs) are increasingly applied to robotic navigation; however, existing benchmarks primarily emphasize navigation success rates while paying limited attention to social compliance. Moreover, relying on large-scale LMs can…
Large scale pre-training on text and image data along with diverse robot demonstrations has helped Vision Language Action models (VLAs) to generalize to novel tasks, objects and scenes. However, these models are still susceptible to failure…
While current embodied policies exhibit remarkable manipulation skills, their execution remains unsatisfactorily slow as they inherit the tardy pacing of human demonstrations. Existing acceleration methods typically require policy…
Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world interaction. Training VLA models in…
The cislunar regime departs from near-Earth orbital behavior through strongly non-linear, non-Keplerian dynamics, which adversely affect the accuracy of uncertainty propagation and state estimation. Additional challenges arise from…
Automating large-scale manufacturing in domains like timber construction requires multi-robot systems to manage tightly coupled spatiotemporal constraints, such as collision avoidance and process-driven deadlines. This paper introduces…
As near-Earth resident space objects proliferate, there is an increasing demand for reliable technologies in applications of on-orbit servicing, debris removal, and orbit modification. Rendezvous and docking are critical mission phases for…
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…
A novel local trajectory planner, capable of controlling an autonomous off-road vehicle on rugged terrain at high-speed is presented. Autonomous vehicles are currently unable to safely operate off-road at high-speed, as current approaches…
We present an open-source robotic framework that integrates computer vision and machine learning based inverse kinematics to enable low-cost laboratory automation tasks such as colony picking and liquid handling. The system uses a custom…
Thermal cameras offer several advantages for simultaneous localization and mapping (SLAM) with mobile robots: they provide a passive, low-power solution to operating in darkness, are invariant to rapidly changing or high dynamic range…
3D Scene Graphs (3DSGs) provide hierarchical, multi-resolution abstractions that encode the geometric and semantic structure of an environment, yet their treatment of dynamics remains limited to tracking individual agents. Maps of Dynamics…
Recent advances in unimanual manipulation policies have achieved remarkable success across diverse robotic tasks through abundant training data and well-established model architectures. However, extending these capabilities to bimanual…