机器人学
In classical Informative Path Planning (C-IPP), robots are typically modeled as mobile sensors that acquire digital measurements such as images or radiation levels. In this model - since making a measurement leaves the robot's physical…
Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One of the prevalent approaches is safety filtering based on control barrier functions (CBFs), which are…
Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots would enable higher-level control, such as supervised autonomy…
Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditional learning approaches require substantial amounts of…
Object navigation (ObjectNav) in real-world environments is a complex problem that requires simultaneously addressing multiple challenges, including complex spatial structure, long-horizon planning and semantic understanding. Recent…
Collaborative planning under operational constraints is an essential capability for heterogeneous robot teams tackling complex large-scale real-world tasks. Unmanned Aerial Vehicles (UAVs) offer rapid environmental coverage, but flight time…
Aesthetics - often treated as secondary to function-guides how people interpret robots' roles. A great deal of robot designs - both real and fictitious - use sleek industrial aesthetics. These feature hard glossy plastics, hiding as much of…
Selecting an appropriate motor-gearbox combination is a critical design task in robotics because it directly affects cost, mass, and dynamic performance. This process is especially challenging in modular robots with closed kinematic chains,…
Teleoperation is increasingly being adopted as a critical fallback for autonomous vehicles. However, the impact of network latency on vision-based, perception-driven control remains insufficiently studied. The present work investigates the…
End-user robot programming grants users the flexibility to re-task robots in situ, yet it remains challenging for novices due to the need for specialized robotics knowledge. Large Language Models (LLMs) hold the potential to lower the…
Fully actuated omnidirectional UAVs enable independent control of forces and torques along all six degrees of freedom, broadening the operational envelope for agile flight and aerial interaction tasks. However, conventional control…
A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the free energy principle in computational neuroscience, to…
The viability of long-distance telesurgery hinges on reliable network Quality of Service (QoS), yet the impact of realistic network degradations on task performance is not sufficiently understood. This paper presents a comprehensive…
Dropped head syndrome, caused by neck muscle weakness from neurological diseases, severely impairs an individual's ability to support and move their head, causing pain and making everyday tasks challenging. Our long-term goal is to develop…
Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Although standard RL frameworks demonstrate impressive locomotion…
Scaling up datasets is highly effective in improving the performance of deep learning models, including in the field of robot learning. However, data collection still proves to be a bottleneck. Approaches relying on collecting human…
Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…
Robotic foundation models (RFMs) are emerging as a promising route towards flexible, instruction- and demonstration-driven robot control, however, a critical investigation of their industrial applicability is still lacking. This survey…
The Dynamic Targeting (DT) mission concept is an approach to satellite observation in which a lookahead sensor gathers information about the upcoming environment and uses this information to intelligently plan observations. Previous work…
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficult to manipulate -- resulting in accidental spills and…