机器人学
For peg-in-hole tasks, humans rely on binocular visual perception to locate the peg above the hole surface and then proceed with insertion. This paper draws insights from this behavior to enable agents to learn efficient assembly strategies…
Mobile robot navigation in dynamic environments with pedestrian traffic is a key challenge in the development of autonomous mobile service robots. Recently, deep reinforcement learning-based methods have been actively studied and have…
Uncertainty in LiDAR sensor-based object detection arises from environmental variability and sensor performance limitations. Representing these uncertainties is essential for ensuring the Safety of the Intended Functionality (SOTIF), which…
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…
Trajectory prediction models in autonomous driving are vulnerable to perturbations from non-causal agents whose actions should not affect the ego-agent's behavior. Such perturbations can lead to incorrect predictions of other agents'…
Bundle adjustment (BA) is a critical technique in various robotic applications such as simultaneous localization and mapping (SLAM), augmented reality (AR), and photogrammetry. BA optimizes parameters such as camera poses and 3D landmarks…
Underwater navigation is a challenging area in the field of mobile robotics due to inherent constraints in self-localisation and communication in underwater environments. Some of these challenges can be mitigated by using collaborative…
The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational…
Achieving human-level manipulation requires dexterous robotic hands capable of complex object interactions. Advancing such capabilities further demands standardized benchmarks for systematic evaluation. However, existing dexterous…
As mobile service robots increasingly coexist with pedestrians, ensuring passively safe behaviour during confined emergency evacuations is critical. Existing multi-robot yielding strategies often focus solely on collision avoidance and…
Research on Vision Language Action (VLA) models has been increasing rapidly in recent years. Although some of them focus on detecting, preventing, and recovering from task failures, they usually don't deal with adapting to robot's physical…
Deformable Linear Objects (DLOs) such as ropes and cables are widely encountered in both household and industrial applications, yet remain challenging to manipulate due to their infinite-dimensional configuration space and frequent…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
This paper introduces a motion planning framework to plan morphology and trajectory for morphing quadrotors under extremely constrained environments. We develop a novel obstacle avoidance cost function for nonlinear model predictive control…
Aerial vision-language navigation (VLN) requires agents to follow natural-language instructions through closed-loop perception and action in 3D environments. We argue that aerial VLN can be formulated as a prediction-driven world-action…
This paper presents a reproducible and physically feasible dynamic parameter identification framework for CRANE-X7, a low-cost robot arm driven by modular smart actuators. To improve practical identifiability, products of inertia are…
Plasma shape control in tokamaks requires a real-time controller that tracks dynamically changing shape targets while tolerating diagnostic failures. Classical approaches decompose the problem into equilibrium reconstruction followed by a…
Robots are increasingly present in human spaces, such as for conducting deliveries in hospitals, interacting with visitors at museums, and stocking items in warehouses. To ensure the seamless integration of robots into these spaces, a new…
This paper presents a novel framework for Jacobian computation in motion optimization problems involving multi-link systems, where physical quantities are represented using higher-order time derivatives. In motion optimization of robots and…
Learning visuomotor policies from scarce expert demonstrations remains a core challenge in robotic manipulation. A primary hurdle lies in distilling high-dimensional RGB representations into control-relevant geometry without overfitting.…