机器人学
We propose TacFiLM, a lightweight modality-fusion approach that integrates visual-tactile signals into vision-language-action (VLA) models. While recent advances in VLA models have introduced robot policies that are both generalizable and…
In safety-critical Cyber-Physical Systems (CPS), accurate trajectory prediction provides vital guidance for downstream planning and control, yet although deep learning models achieve high-fidelity forecasts on validation data, their…
Microgravity rendezvous and close proximity operations (RPO) is a growing area of interest for applications spanning in-space assembly and manufacturing (ISAM), orbital debris remediation, and small body exploration. Microgravity…
Generalizing learned locomotion policies across quadrupedal robots with different morphologies remain a challenge. Policies trained on a single robot often break when deployed on embodiments with different mass distributions, kinematics,…
To prepare students for upcoming trends and challenges, it is important to teach them about the helpful and important aspects of modern technologies, such as robotics. However, classic study programs often fail to prepare students for…
Small free-flying spacecraft can provide vital extravehicular activity (EVA) services like inspection and repair for future orbital outposts like the Lunar Gateway. Operating adjacent to delicate space station and microgravity targets,…
Cross-embodiment manipulation is crucial for enhancing the scalability of robot manipulation and reducing the high cost of data collection. However, the significant differences between embodiments, such as variations in action spaces and…
Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fails in turbid conditions, while sonar is robust to lighting…
We present OCRA, an Object-Centric framework for video-based human-to-Robot Action transfer that learns directly from human demonstration videos to enable robust manipulation. Object-centric learning emphasizes task-relevant objects and…
Event cameras provide high dynamic range and microsecond-level temporal resolution, making them well-suited for indoor robot navigation, where conventional RGB cameras degrade under fast motion or low-light conditions. Despite advances in…
Robotic ultrasound offers advantages over free-hand scanning, including improved reproducibility and reduced operator dependency. In clinical practice, US acquisition relies heavily on the sonographer's experience and situational judgment.…
Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…
State of the art quadrupedal locomotion approaches integrate Model Predictive Control (MPC) with Reinforcement Learning (RL), enabling complex motion capabilities with planning and terrain adaptive behaviors. However, they often face…
Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstrations for autonomous learning. Despite recent advances,…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
Water quality monitoring is essential for protecting aquatic ecosystems and detecting environmental pollution. This paper presents the design and experimental validation of a bio-inspired miniature submarine for low-cost water quality…
Designing correct UAV autonomy programs is challenging due to joint navigation, sensing and analytics requirements. While LLMs can generate code, their reliability for safety-critical UAVs remains uncertain. This paper presents AeroGen, an…
Ethical decision governance has become a critical requirement for autonomous robotic systems operating in human-centered and safety-sensitive environments. This paper presents a real-time neuro-symbolic ethical governor designed to enable…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
In aging-in-place contexts, small difficulties in Activities of Daily Living (ADL) can accumulate, affecting well-being through fatigue, anxiety, reduced autonomy, and safety risks. This position paper argues that robotics for older adult…