机器人学
The motion planning problem for robotic manipulation can be addressed through classical or deep learning approaches. Existing methods face significant challenges in generalizing to diverse settings. In this study, we present a method with…
This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar leg design, we develop RL policies for walking, vertical…
A robot resolving ``put the cup on that one'' must fuse gesture, language, and scene geometry, yet 3D grounding benchmarks only partially capture this regime: descriptions are written post-hoc, gestures are templated, or pointing is staged…
This paper presents MuGen, a data-driven framework for learning and deploying multi-skill locomotion on humanoid robots. MuGen enables a robot to perform expressive motions like humans under the guidance of example motion sequences. To…
This paper presents Elevator-LIO, a LiDAR-inertial odometry framework designed to achieve continuous robot localization during elevator travel, thereby supporting cross-floor robotic tasks. To address the state-estimation problem in…
Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes their application in GNSS and telemetry-denied scenarios.…
Flow-matching robot policies commonly use action-chunking inference for efficient closed-loop control, but chunk boundaries can introduce discontinuous action transitions. Existing RTC guidance improves continuity by injecting correction…
Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with…
Robotic assistants in long-term human-robot collaboration need to assist users under partial observations while leveraging cross-day interaction history. However, human traits and routines are often unknown at the beginning of…
We present IsaacIPC, a robotic simulation framework that couples GPU accelerated incremental potential contact (IPC) with IsaacSim/Lab. IsaacIPC maps simulated deformation between simulation and visual meshes, enabling real-time realistic…
Planetary rovers operating in extraterrestrial environments often encounter significant mobility challenges due to varying terrain features such as gradients and granularity. While recent works in multimodal wheel design have explored…
Bidirectional thrust grants quadrotors a second equilibrium condition and increased control authority, expanding the envelope of possible aggressive maneuvers and enabling inverted flight, perching, and sensing. Prior geometric control…
In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neural modules), which are gated by the latent coordinates of…
Vision-language-action (VLA) models have shown strong potential for generalist robot manipulation, yet they remain limited by insufficient spatial reasoning, particularly in determining where to interact in complex visual scenes. While…
In robotic applications, actuators are typically designed to be stiff with minimal backlash to ensure precision and repeatability. However, this limits compliance, leading to potential damage and poor force control in uncertain…
We consider the problem of combining potential field and ergodic search on multi-robot systems. Traditional ergodic search algorithms use metrics for ergodicity that account for the desired distribution at different scales. Recently, a heat…
Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relative topological graphs almost entirely do away with…
Robots deployed in dynamic environments must contend with environment-driven changes that reshape computation at runtime: new tasks may appear, precedence relations can shift, and overall workload structure evolves, all of which degrade…
Vision-Language-Action (VLA) models have emerged as a promising paradigm for generalist robotic manipulation. A common design in current architectures maps language instructions and visual observations to actions in a single forward pass.…
Flapping-Wing Micro Aerial Vehicles (FWMAVs) provide exceptional maneuverability and aerodynamic efficiency but pose significant challenges for onboard control due to nonlinear dynamics and stringent Size, Weight, and Power (SWaP)…