机器人学
Open-world interactive object search in household environments requires understanding semantic relationships between objects and their surrounding context to guide exploration efficiently. Prior methods either rely on vision-language…
Efficient communication is critical for decentralized Multi-Robot Path Planning (MRPP), yet existing learned communication methods treat all neighboring robots equally regardless of their spatial proximity, leading to diluted attention in…
Despite the rapid progress of vision-language-action (VLA) models, the prevailing practice of predicting action chunks as discrete waypoints remains structurally misaligned with the intrinsic continuity of physical motion. This…
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…
Latent actions learned from diverse human videos serve as pseudo-labels for vision-language-action (VLA) pretraining, but provide effective supervision only if they remain informative about the underlying ground-truth actions. For effective…
Interest in utilizing autonomous uncrewed aerial vehicles (UAVs) for under-canopy forest remote sensing has increased in recent years, resulting in the publication of numerous autonomous flight algorithms in the scientific literature. To…
Parameter tuning in real-world experiments is constrained by the limited evaluation budget available on hardware. The path-following controller studied in this paper reflects a typical situation in nonlinear geometric controller, where…
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…
Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Existing virtual RCM controllers are commonly formulated either…
Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is…
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between the robot's body and the surrounding fluid. However,…
The advent of event-based cameras, with their low latency, high dynamic range, and reduced power consumption, marked a turning point in machine perception and robotic vision. In~particular, the combination of these neuromorphic sensors with…
Delayed and partially observable state information poses significant challenges for reinforcement learning (RL)-based control in real-world autonomous driving. In highway on-ramp merging, a roadside unit (RSU) can sense nearby traffic,…
Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…
Reactive control is often considered insufficient for multi-objective tasks because conflicting objectives give rise to local minima. We argue this limitation is not inherent but arises from static encodings that fail to reflect how…
Vision-Language-Action (VLA) models are increasingly expected to not only complete robot tasks, but also follow human instructions about how those tasks should be executed. However, existing robot datasets usually pair trajectories with…
Volcanoes emit large amounts of CO2, directly influencing human lives. Mapping volcanic gas emissions helps to forecast eruptions and understand the impact of volcanoes on climate and the environment. Drone-based gas sensing significantly…
Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints…
Learning from demonstrations is effective for robotic manipulation, but collecting sufficient task-specific data remains a major bottleneck. Under distribution shift, small errors compound, performance degrades, and expert time is often…
Motor thermal management is often overlooked in the context of electrically-actuated robots, particularly legged robots, but motor overheating is a key factor that limits long-duration locomotion especially under payload conditions. This…