机器人学
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but technically distinct safety methods,…
Vision-Language Navigation (VLN) enables robots to follow natural-language instructions in visually grounded environments, serving as a key capability for embodied robotic systems. Recent Vision-Language-Action (VLA) models have…
Cooperative transport and manipulation of heavy or bulky payloads by multiple manipulators requires coordinated formation tracking, while simultaneously enforcing strict safety constraints in varying environments with limited communication…
The automotive sector is following a revolutionary path from vehicles controlled by humans to vehicles that will be fully automated, fully connected, and ultimately fully cooperative. Along this road, new cooperative algorithms and…
High-quality, long-horizon demonstrations are essential for embodied AI, yet acquiring such data for tightly coupled wheeled mobile manipulators remains a fundamental bottleneck. Unlike fixed-base systems, mobile manipulators require…
Artificial Water Bodies (AWBs) are human-made systems that require continuous monitoring due to their artificial biological processes. These systems demand regular maintenance to manage their ecosystems effectively. As a result of these…
Inertial measurement units (IMUs), which provide high-frequency linear acceleration and angular velocity measurements, serve as fundamental sensing modalities in robotic systems. Recent advances in deep neural networks have led to…
We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provide natural language prompts (e.g.…
This paper presents a shared-control rehabilitation policy for a custom 6-degree-of-freedom (6-DoF) upper-limb robot that decomposes complex reaching tasks into decoupled spatial axes. The patient governs the primary reaching direction…
This report presents a structured Robotics Physical Safety Framework based on explicit asset declaration, systematic vulnerability enumeration, and hazard-driven synthetic data generation. The approach bridges classical risk engineering…
Gaze is a valuable means of communication for impaired people with extremely limited motor capabilities. However, robust gaze-based intent recognition in multi-object environments is challenging due to gaze noise, micro-saccades, viewpoint…
Large and small language models have been widely used for robotic task planning. At the same time, vision-language models (VLMs) have successfully tackled problems such as image captioning, scene understanding, and visual question…
Embodied navigation agents powered by large language models have shown strong performance on individual tasks but struggle to continually acquire new navigation skills, which suffer from catastrophic forgetting. We formalize this challenge…
Robots are improving their autonomy with minimal human supervision. However, auditable actions, transparent decision processes, and new human-robot interaction models are still missing requirements to achieve extended robot autonomy. To…
Vision-Language-Action (VLA) models enable robots to perform manipulation tasks directly from natural language instructions and are increasingly viewed as a foundation for generalist robotic policies. However, their reliability under…
Off-road autonomous driving poses significant challenges such as navigating unmapped, variable terrain with uncertain and diverse dynamics. Addressing these challenges requires effective long-horizon planning and adaptable control.…
Recent advances in humanoid locomotion have enabled dynamic behaviors such as dancing, martial arts, and parkour, yet these capabilities are predominantly demonstrated in open, flat, and obstacle-free settings. In contrast, real-world…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
This work presents the first study on transferring vision-language-action (VLA) policies to real greenhouse tabletop strawberry harvesting, a long-horizon, unstructured task challenged by occlusion and specular reflections. We built an…