机器人学
Vision-Language-Action (VLA) models have demonstrated strong potential for predicting semantic actions in navigation tasks, demonstrating the ability to reason over complex linguistic instructions and visual contexts. However, they are…
Generative Control Policies (GCPs) show immense promise in robotic manipulation but struggle to simultaneously model stable global motions and high-frequency local corrections. While modern architectures extract multi-scale spatial…
Imitation learning has demonstrated impressive results in robotic manipulation but fails under out-of-distribution (OOD) states. This limitation is particularly critical in Deformable Object Manipulation (DOM), where the near-infinite…
Autonomous racing has attracted significant attention recently, presenting challenges in selecting an optimal controller that operates within the onboard system's computational limits and meets operational constraints such as limited track…
Generalist robot manipulation policies are becoming increasingly capable, but are limited in evaluation to a small number of hardware rollouts. This strong resource constraint in real-world testing necessitates both more informative…
Underwater intervention is an important capability in several marine domains, with numerous industrial, scientific, and defense applications. However, existing perception systems used during intervention operations rely on data from optical…
Over the past three decades, countless embodied yet virtual agents have freely evolved inside computer simulations, but vanishingly few were realized as physical robots. This is because evolution was conducted at a level of abstraction that…
Connected robotics is one of the principal use cases driving the transition towards more intelligent and capable 6G mobile cellular networks. Replacing wired connections with highly reliable, high-throughput, and low-latency 5G/6G radio…
Wearable exosuits assist human movement in tasks ranging from rehabilitation to daily activities; specifically, head-neck support is necessary for patients with certain neurological disorders. Rigid-link exoskeletons have shown to enable…
Recent advances in robot manipulation increasingly leverage Vision-Language Models (VLMs) for high-level reasoning, such as decomposing task instructions into sequential action plans expressed in natural language that guide downstream…
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from complex STL specifications is fundamentally…
Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR interfaces often rely on manual "air tap" gestures for goal…
Autonomous trucking has progressed rapidly in recent years, transitioning from early demonstrations to OEM-integrated commercial deployments. However, fully driverless freight operations across heterogeneous climates, infrastructure…
Cooperative visual semantic navigation is a foundational capability for aerial robot teams operating in unknown environments. However, achieving robust open-vocabulary object-goal navigation remains challenging due to the computational…
Physics simulation for contact-rich robotics is often bottlenecked by contact resolution: mainstream engines enforce non-penetration and Coulomb friction via complementarity constraints or constrained optimization, requiring per-step…
Dexterous hands enable concurrent prehensile and nonprehensile manipulation, such as holding one object while interacting with another, a capability essential for everyday tasks yet underexplored in robotics. Learning such long-horizon,…
Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied, 3D LiDAR-based methods remain underutilized despite their…
Robotic systems operating in unstructured environments must operate under significant uncertainty arising from intermittent contacts, frictional variability, and unmodeled compliance. While recent model-free approaches have demonstrated…
Vision-and-Language Navigation (VLN) requires agents to accurately perceive complex visual environments and reason over navigation instructions and histories. However, existing methods passively process redundant visual inputs and treat all…
Robotic manipulation policies have made rapid progress in recent years, yet most existing approaches give limited consideration to memory capabilities. Consequently, they struggle to solve tasks that require reasoning over historical…