机器人学
Navigating under non-stationary environment shifts poses a critical challenge for a Vision-and-Language Navigation (VLN) agent deployed in the wild. Yet, existing Test-Time Adaptation (TTA) methods for VLN largely treat online adaptation as…
This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level logical and timing requirements while respecting low-level…
Autonomous robotic exploration of unknown and hazardous environments, a long-standing challenge, can be significantly improved by leveraging the advanced reasoning of Vision-Language Models (VLMs). We introduce a novel exploration pipeline…
We present Semantic-Aware Guided Exploration, SAGE, a system for open-vocabulary exploration in unknown 3D indoor environments that preserves coverage-oriented behavior while allowing semantic cues to reprioritize frontier selection.…
Currently, Vision-Language-Action (VLA) models have become the most adopted paradigm for robotic manipulation for its great potential for task generalization. While most generative flow-matching action decoders for VLA control are often…
Legged robots carry an IMU, but the inertial solution drifts because consumer-grade IMUs are noisy. However, the feet create intermittent contacts with the environment that can be used to mitigate that drift. This report develops a sequence…
Reliable uncertainty estimation is critical for deploying monocular depth deep neural networks (DNNs) in safety-critical robotic systems. Conventional uncertainty methods such as ensembles and sampling-based approaches require multiple…
Recent research has demonstrated the potential of reinforcement learning in effective multi-robot collaboration, particularly in social dilemmas where robots face a trade-off between self-interest and collective benefits. However,…
Reactive task-space planners such as Bug2 operate with fixed Cartesian step sizes and are unaware of the manipulator's joint-angle limits. When the Jacobian is poorly conditioned, even small Cartesian steps can demand joint changes that…
Learning reward functions from demonstrations assumes that demonstrations provide adequate supervision over all features -- or task-relevant aspects of behavior. In practice, demonstrations are often imperfect: humans may under-emphasize…
Vision-Language-Action (VLA) models have emerged as a promising paradigm for robotic manipulation by leveraging pre-trained vision-language representations. However, current VLA training methods suffer from two critical limitations: poor…
Event cameras are well suited for visual odometry under high-speed motion and challenging lighting conditions due to their low latency, high temporal resolution, and high dynamic range. Deep Event Visual Odometry (DEVO) demonstrated that…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
Whole-body Humanoid-Object Interaction (HOI) is bottlenecked by the scarcity of high-fidelity 3D data. While video generative priors offer a promising alternative, existing methods suffer from \textit{Representation Misalignment} due to…
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the physical…
Deep Neural Networks have become the dominant solution for Autonomous Driving perception, but their opacity conflicts with emerging Trustworthy AI guidelines and complicates safety assurance, debugging, and human oversight. While…
In this paper, we describe procedures for computing higher-order time derivatives of the Lie-group Newton-Euler, Articulated-Body Inertia, and hybrid dynamics algorithms for floating-base trees, where the base configuration evolves on SE(3)…
The Moving Target Vehicle Routing Problem with Obstacles (MT-VRP-O) seeks trajectories for several agents that collectively intercept a set of moving targets. Each target has one or more time windows where it must be visited, and the agents…
Autonomous vehicles rely on map information to understand the world around them. However, the creation and maintenance of offline high-definition (HD) maps remains costly. A more scalable alternative lies in online HD map construction,…
Remote Operation is touted as being key to the rapid deployment of automated vehicles. Streaming imagery to control connected vehicles remotely currently requires a reliable, high throughput network connection, which can be limited in…