机器人学
Interlocking brick assemblies provide a standardized yet challenging testbed for contact-rich and long-horizon robotic manipulation, but existing rigid-body simulators do not faithfully capture snap-fit mechanics. We present BrickSim, the…
Robot-assisted therapy can deliver high-dose, task-specific training after neurologic injury, but most systems act primarily at the limb level-engaging the impaired neural circuits only indirectly-which remains a key barrier to truly…
Behavior Trees (BTs) offer a powerful paradigm for designing modular and reactive robot controllers. BT planning, an emerging field, provides theoretical guarantees for the automated generation of reliable BTs. However, BT planning…
Soft robotics leverages deformable materials to develop robots capable of navigating unstructured and dynamic environments. Silicone Voxel-Based Soft Robots (Silibots) are a type of pneumatically actuated soft robots that rely on the…
Background: Assistance robots have the potential to increase the independence of people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs offer…
Mobile robots are increasingly deployed for inspection, patrol, and search-and-rescue operations, relying on computer vision for perception, navigation, and autonomous decision-making. However, executing modern vision workloads onboard is…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
Simulating robot-world interactions is a cornerstone of Embodied AI. Recently, a few works have shown promise in leveraging video generations to transcend the rigid visual/physical constraints of traditional simulators. However, they…
Marine oil spills damage ecosystems, contaminate coastlines, and disrupt food webs, while imposing substantial economic losses on fisheries and coastal communities. Prior work has demonstrated the feasibility of containing and cleaning…
Robotic grasping is a fundamental yet crucial component of robotic applications, as effective grasping often serves as the starting point for various tasks. With the rapid advancement of neural networks, data-driven approaches for robotic…
Accurate trajectory prediction can improve General Aviation safety in non-towered terminal airspace, where high traffic density increases accident risk. We present ASCENT, a lightweight transformer-based model for multi-modal 3D aircraft…
Climbing robots face significant challenges when navigating unstructured environments, where reliable attachment to irregular surfaces is critical. We present a novel mobile climbing robot equipped with compliant pin-array structured…
Offline post-training adapts a pretrained robot policy to a target dataset by supervised regression on recorded actions. In practice, robot datasets are heterogeneous: they mix embodiments, camera setups, and demonstrations of varying…
We present Kamino, a GPU-based physics solver for massively parallel simulations of heterogeneous highly-coupled mechanical systems. Implemented in Python using NVIDIA Warp and integrated into the Newton framework, it enables the…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
Robotic inspection of radioactive areas enables operators to be removed from hazardous environments; however, planning and operating in confined, cluttered environments remain challenging. These systems must autonomously reconstruct the…
Parallel simulation and control of large-scale robotic systems often rely on partitioned time stepping, yet finite-iteration coupling can inject spurious energy by violating power consistency--even when each subsystem is passive. This…
This study investigates a method to guide and control fish schools using virtual fish trained with reinforcement learning. We utilize 2D virtual fish displayed on a screen to overcome technical challenges such as durability and movement…
We set out to study whether task-based narratives could influence long-term engagement with a service robot. To do so, we deployed a Robo-Barista for five weeks in an over-50's housing complex in Stockton, England. Residents received a free…