机器人学
Building humanoid robots capable of generalizable whole-body loco-manipulation in the real world remains a fundamental challenge. Existing methods either rely on laborious task-specific reward engineering, rigidly replay reference motions…
Skill atrophy, the gradual decline of human capability under AI assistance, poses a safety risk in shared-control of semi-autonomous systems, where operators may be unable to distinguish their own inputs from autonomous corrections. We…
Soft mobile robots have emerged as a promising area of research with potential applications in various disciplines including but not limited to search-and-rescue, service, surveillance, explorations, and manufacturing. In this article, we…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
Reinforcement learning for legged locomotion has matured into a stack of multi-component reward functions and physics-engine benchmarks whose morphologies are uniformly derived from real commercial hardware. Game NPCs, however, are bound by…
The scarcity of large-scale, high-quality demonstration data remains a bottleneck in scaling imitation learning for robotic manipulation. We present COBALT, a teleoperation platform designed to democratize robot learning at scale both in…
Recent aerial vision-language navigation (VLN) datasets have grown rapidly, but they primarily address goal-oriented navigation to static destinations, leaving UAV visual tracking -- continuously following a moving target while maintaining…
Visuomotor policies aim to learn complex manipulation tasks from expert demonstrations. However, generating smooth and coherent trajectories remains challenging, as it requires balancing proximal precision with distal foresight. Existing…
Vision-Language-Action (VLA) models are prone to compounding errors in dexterous manipulation, where high-dimensional action spaces and contact-rich dynamics amplify small policy deviations over long horizons. While Interactive Imitation…
Natural language is an intuitive interface for humanoid robots, yet streaming whole-body control requires control representations that are executable now and anticipatory of future physical transitions. Existing language-conditioned…
Vision-language-action (VLA) models are effective as end-to-end motion planners, but can be brittle when evaluated in closed-loop settings due to being trained under traditional imitation learning framework. Existing closed-loop supervision…
Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…
Unmanned aerial vehicles (UAVs) operating in cluttered environments require efficient and accurate impact modeling to maintain stability post collisions, however classical impulse contact models decouple the normal and tangential…
Autonomous field robots operating in unstructured environments require robust perception to ensure safe and reliable operations. Recent advances in monocular depth estimation have demonstrated the potential of low-cost cameras as depth…
Structurally repetitive environments produce visually plausible but aliased LiDAR loop candidates that can destabilize pose-graph optimization when admitted as loop factors. We propose Query-Calibrated Segmental Admission (QCSA), a…
This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…
Explainability, in particular, the ability for robots to explain why they have made a decision or behaved in a certain way, is a critical tool in helping users understand the robots they interact and coexist with. Behaviour trees are a…
Affordance grounding focuses on predicting the specific regions of objects that are associated with the actions to be performed by robots. It plays a vital role in the fields of human-robot interaction, human-object interaction, embodied…
This article presents a Hamilton--Jacobi (HJ) reachability framework for a two--satellite collision avoidance problem operating in the same circular orbit, where relative motion is modeled in the radial--tangential--normal (RTN) frame using…
This paper demonstrates the computational design of soft elastomeric pneumatic actuators using nonlinear topology optimization. An existing density- and porohyperelasticity-based topology optimization framework was extended from 2D to 3D…