机器人学
This paper studies heterogeneous multi-team collaboration through dynamic robot allocation, where robots are treated as transferable resources. Leveraging Hamilton's rule from ecology as an altruistic decision-making mechanism, we propose a…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
Behavior cloning for contact-rich bimanual manipulation remains challenging because diverse demonstrations are expensive to collect, and even small disturbances can push the system into off-manifold states where no recovery supervision is…
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…
Autonomous contact-based micromanipulation is challenging because surface and interfacial interactions at the microscale are difficult to model accurately, limiting the use of conventional model-based control and sim-to-real learning. We…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Tightly coupled SLAM formulations under mixed-rate sensing often bind temporal processing, local geometric association, estimator formulation, and map-update policy into method-specific designs. Such binding makes it difficult to vary one…
Robotic systems are vulnerable to False Data Injection Attacks (FDIAs), where adversaries corrupt sensor signals to gain malicious control. Feedback linearization exposes robotic systems to integrator vulnerability, making them susceptible…
We present Pelican-Unify 1.0, the first embodied foundation model trained according to the principle of unification. Pelican-Unify 1.0 uses a single VLM as a unified understanding module, mapping scenes, instructions, visual contexts, and…
Diffusion-based imitation learning has shown strong promise for robot manipulation. However, most existing policies condition only on the current observation or a short window of recent observations, limiting their ability to resolve…
Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a…
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. We introduce MoT-HRA, a hierarchical…
As embodied robots move toward fleet-scale operation, multi-robot coordination is becoming a central systems challenge. Existing approaches often treat this as motivation for increasing internal multi-agent decomposition within each robot.…
Embodied agents are evolving from passive reasoning systems into active executors that interact with tools, robots, and physical environments. Once granted execution authority, the central challenge becomes how to keep actions governable at…
Embodied agents are expected to operate persistently in dynamic physical environments, continuously acquiring new capabilities over time. Existing approaches to improving agent performance often rely on modifying the agent itself -- through…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…
Action chunking is widely used in generative visuomotor policies, yet the recurring execution discontinuities at chunk boundaries still lack a mechanistic explanation. This paper treats chunk-boundary artifact as an analyzable mechanism…
This paper surveys the state-of-the-art in the nexus of SLAM and Wireless Communications, attributing the bidirectional impact of each with a focus on visual SLAM (V-SLAM) integration. We provide an overview of key concepts related to…
While current humanoid whole-body control frameworks predominantly rely on the static environment assumptions, addressing tasks characterized by high dynamism and complex interactions presents a formidable challenge. In this paper, we…