机器人学

Embodied Question Answering (EQA) connects perception, reasoning, and interaction within embodied environments. However, existing datasets and benchmarks remain fragmented, each focusing on a limited subset of reasoning skills such as…

The increasing use of drones in human-centric applications highlights the need for designs that can survive collisions and recover rapidly, minimizing risks to both humans and the environment. We present HoLoArm, a quadrotor with compliant…

Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are…

In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…

Autonomous ground robots operating in large-scale outdoor environments require both robust long-range navigation and fine-grained ''last-mile'' exploration. Current advances in visual-language navigation (VLN) work well at short-range…

Multi-robot task allocation usually assumes some combination of communication, known task models, or a coordinator. We study the opposite extreme, a regime common in practice but overlooked in theory, which we name Zero-Knowledge MRTA…

Existing embodied control research demonstrates remarkable performance improvements by scaling training data and model size. We instead explore inference-time strategy as an alternative axis. Non-deterministic generative models, such as…

Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision avoidance, obstacle avoidance, and workspace boundaries must…

Real-time chunking (RTC) lets chunked action policies operate under inference delay by conditioning a newly generated action chunk on actions already committed by the previous chunk. Training-time RTC simulates this delay during learning…

Robotic perception in unstructured environments remains challenging despite the zero-shot capabilities of foundation models such as SAM. This work attributes performance degradation to non-uniform representation shifts across transformer…

The ability to efficiently and reliably learn new tasks has been a foundational challenge in robotics. Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse manipulation tasks, yet pretrained policies…

Autonomous exploration is critical for robot mapping unknown environments. Desirable characteristics of exploration algorithms include compute efficiency and small traversed distance during the exploration process. Motivated by these, we…

Distribution shift in imitation learning refers to the problem that the agent cannot plan proper actions for a state that has not been visited during the training. This problem can be largely attributed to the inherently narrow state-action…

Biomimetic autonomous underwater vehicle (BAUV) with multi-link mechanism is widely used in aquatic life observation and environmental surveys due to its low power consumption and high maneuverability. An environmental survey requires a…

Large Language Models (LLMs) and Multimodal LLMs (MLLMs) have demonstrated immense potential in autonomous driving (AD) by offering human-like reasoning and open-world generalization. However, the excessive computational overhead and high…

We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdoor environments using an uncalibrated monocular camera in real-time. We leverage geometric foundation models to estimate geometric…

The strong dynamic coupling between the manipulator and the base poses a significant challenge to maintaining spacecraft attitude stability, potentially compromising mission safety. In this paper, we propose a Dual-Agent Coordinated…

Neural network (NN) dynamics models and control policies achieve strong performance in robotics, but providing sound guarantees under uncertainty remains difficult, especially for closed-loop NN systems. Existing reachability tools provide…

Greenhouse agriculture in the Mediterranean region faces significant automation challenges due to its unique structural and environmental constraints. These environments are characterized by extremely narrow aisles, heterogeneous terrains…

We present FusionCore, an open-source ROS 2 sensor fusion package that fuses IMU, wheel encoder odometry, GPS, and Visual SLAM pose into a single 100 Hz odometry stream using a 23-state Unscented Kalman Filter (UKF). The 23rd state is an…