机器人学
Embodied intelligence for contact-rich manipulation has predominantly relied on position control, while explicit awareness and regulation of interaction forces remain under-explored, limiting stability, precision, and robustness in…
Robotic contact-rich and fine-grained manipulation remains a significant challenge due to complex interaction dynamics and the competing requirements of multi-timescale control. While current visual imitation learning methods excel at…
Vision-language models (VLMs) have significantly improved the generalization capabilities of robotic manipulation. However, VLM-based systems often suffer from a lack of robustness, leading to unpredictable errors, particularly in scenarios…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…
Reliable aerial grasping in cluttered environments remains challenging due to occlusions and collision risks. Existing aerial manipulation pipelines largely rely on centroid-based grasping and lack integration between the grasp pose…
Humanoid robots deployed in real-world scenarios often need to carry unknown payloads, which introduce significant mismatch and degrade the effectiveness of simulation-to-reality reinforcement learning methods. To address this challenge, we…
Artificial muscles embody human aspirations for engineering lifelike robotic movements. This paper introduces an architecture for Inflatable Fluid-Driven Origami-Inspired Artificial Muscles (IN-FOAMs). A typical IN-FOAM consists of an…
In this study, we address the problem of language-guided robotic manipulation, where a robot is required to manipulate a wide range of objects based on visual observations and natural language instructions. This task is essential for…
Current Vision-Language-Action (VLA) paradigms in end-to-end autonomous driving rely on offline training from static datasets, leaving them vulnerable to distribution shift. Recent post-training methods use takeover data to mitigate this by…
End-to-end autonomous driving policies based on Imitation Learning (IL) often struggle in closed-loop execution due to the misalignment between inadequate open-loop training objectives and real driving requirements. While Reinforcement…
Origami inspired architectures offer a powerful route toward lightweight, reconfigurable, and programmable robotic systems. Yet, a unified mechanics framework capable of seamlessly bridging rigid folding, elastic deformation, and stability…
Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot often encounters angle limitations during…
Understanding the world from distributed, partial viewpoints is a fundamental challenge for embodied multi-agent systems. Each agent perceives the environment through an ego-centric view that is often limited by occlusion and ambiguity. To…
Precise collaboration in vision-based dual-arm robot systems requires accurate system calibration. Recent dual-robot calibration methods have achieved strong performance by simultaneously solving multiple coordinate transformations.…
Achieving accurate garment grasping under dynamically changing illumination is crucial for all-day operation of service robots.However, the reduced illumination in low-light scenes severely degrades garment structural features, leading to a…
Oyster reefs are critical ecosystem species that sustain biodiversity, filter water, and protect coastlines, yet they continue to decline globally. Restoring these ecosystems requires regular underwater monitoring to assess reef health, a…
3D Gaussian Splatting (3DGS) has emerged as a powerful technique for real-time LiDAR and camera synthesis in autonomous driving simulation. However, simulating LiDAR with 3DGS remains challenging for extrapolated views beyond the training…
Robot model identification is commonly performed by least-squares regression on inverse dynamics, but existing formulations measure residuals directly in coordinate force space and therefore depend on the chosen coordinate chart, units, and…
Inspection of confined infrastructure such as culverts often requires accessing hidden spaces whose entrances are reachable primarily from elevated viewpoints. Aerial-ground cooperation enables a UAV to deploy a compact UGV for interior…
Dynamic ball-interaction tasks remain challenging for robots because they require tight perception-action coupling under limited reaction time. This challenge is especially pronounced in humanoid racket sports, where successful interception…