机器人学
Robot-assisted endoluminal procedures are increasingly used for early cancer intervention. However, the intricate, narrow and tortuous pathways within the luminal anatomy pose substantial difficulties for robot navigation. Vision-based…
Asymmetric 3D pursuit-evasion in cluttered voxel environments is difficult under communication latency, partial observability, and nonholonomic maneuver limits. While many MARL methods rely on richer inter-agent coupling or centralized…
In-context imitation learning allows robots to acquire skills from demonstrations, yet one-shot trajectory generation remains fragile under environmental variation. We propose SAIL, a framework that reframes robot imitation as an iterative…
Existing data generation methods suffer from exploration limits, embodiment gaps, and low signal-to-noise ratios, leading to performance degradation during self-iteration. To address these challenges, we propose Seed2Scale, a self-evolving…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(3). This novel approach addresses limitations present in…
As social robots take on increasingly complex roles like game masters (GMs) in multi-party games, the expectation that physicality universally enhances user experience remains debated. This study challenges the "one-size-fits-all" view of…
Understanding and localizing objects in complex 3D environments from natural language descriptions, known as 3D Visual Grounding (3DVG), is a foundational challenge in embodied AI, with broad implications for robotics, augmented reality,…
Most uncertainty-aware robotic systems collapse prediction uncertainty into a single scalar score and use it to trigger uniform corrective responses. This aggregation obscures whether uncertainty arises from corrupted observations or from…
We revisit Vision-Language-Action through a neuroscience-inspired triad. Biologically, the Cerebrum provides stable high-level multimodal priors and remains frozen; the Pons Adapter integrates these cortical features with real-time…
While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-effectors performing simple, vision-guided pick-and-place…
Generalizing decentralized multi-robot cooperative transport across objects with diverse shapes and physical properties remains a fundamental challenge. Under decentralized execution, two key challenges arise: object-dependent…
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…
Programming robots by demonstration (PbD) is an intuitive concept, but scaling it to real-world variability remains a challenge for most current teaching frameworks. Conditional task graphs are very expressive and can be defined…
Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has recently demonstrated high sample efficiency and remarkable…
Locomotion under reduced gravity is commonly realized through jumping, yet continuous pronking in lunar gravity remains challenging due to prolonged flight phases and sparse ground contact. The extended aerial duration increases landing…
This work introduces the Drag-Aware Aerodynamic Manipulability (DAAM), a geometric framework for control allocation in redundant multirotors. By equipping the propeller spin-rate space with a Riemannian metric based on the remaining…
Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the allocator lacks direct awareness of execution difficulty,…
Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are particularly advantageous in aquatic environments, as reducing actuator count lowers the risk of motor leakage while introducing…
Humanoid robots, characterized by numerous degrees of freedom and a high center of gravity, are inherently unstable. Safe omnidirectional locomotion on stairs requires both omnidirectional terrain perception and reliable foothold selection.…