机器人学
Teleoperation systems are fundamentally limited by communication latency, which degrades situational awareness and control performance. Predictive display aims to mitigate this limitation by presenting an estimate of the current visual…
Koopman operator theory provides a powerful framework for representing nonlinear dynamics through a linear operator acting on lifted observables, enabling the use of linear control techniques for nonlinear systems. However, Koopman models…
Recent advances in artificial intelligence (AI) have enabled effective perception and language models for robots, but their deployment remains computationally expensive, increasing latency and energy use. This work presents the Open…
We study multi-robot persistent monitoring on weighted graphs, where node weights encode monitoring priorities and edge weights encode travel distances. The goal is to design joint robot trajectories that minimize the worst-case weighted…
Robotic deployment in real-world environments depends on rich, domain-specific action data as much as on strong model architecture. General-purpose robot foundation models show modest performance in complex unseen tasks such as manipulation…
Despite rapid progress in Vision-Language-Action (VLA) models for robotic control, instruction drift remains a persistent failure mode in long-horizon tasks. This paper reconceptualizes this phenomenon, positing that instruction drift is…
Unmanned underwater vehicles (UUVs) operate persistently in communication-constrained environments, thus requiring high-level autonomous fault-tolerant control under faulty operating conditions. Existing approaches rely heavily on…
High-precision heavy-duty grading is a common step in earthworks, traditionally carried out manually by skilled operators. Removing a significant amount of material while achieving a high-precision surface requires substantial…
The pursuit of general-purpose embodied agents is hindered by fragmented evaluation protocols that isolate navigation skills and fixate on specific robot morphologies, failing to reflect real-world scenarios where agents must orchestrate…
Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while failed rollouts are often discarded. We introduce RePO-VLA,…
In safety-critical scenarios, the protection level of the autonomous navigation system is crucial for enabling mobile robots to perform safe tasks. However, existing studies on probabilistic navigation systems for robots usually perform…
Trajectory optimization for autonomous vehicles usually relies on the kinematic bicycle model because of its computational simplicity. However, when the planned trajectory is executed under the true vehicle dynamics, which include lateral…
Most path planners assume fully known, static environments, assumptions that fail when robots navigate in dynamic and partially observable environments. SMART-3D addresses these issues by real-time replanning, where it morphs the underlying…
Predicting the shape of tendon driven continuum robots (TDCRs) at steady state from actuation remains challenging due to continuous deformation, complex tendon routing, compliance, friction, and fabrication variability. In this paper, we…
Closed-loop traffic simulation requires agents that are both scalable and behaviorally realistic. Recent self-play reinforcement learning approaches demonstrate strong scalability, but their equilibrium strategies fail to capture the…
A Remotely Operated Vehicle (ROV) is a tethered underwater robot used for tasks like inspection and intervention. While essential tools for underwater science, the high cost of commercial ROVs and a persistent gap between mechanically…
Continuous-time state estimation is gaining in popularity due to its abilities to provide smooth solutions, handle asynchronous sensors, and interpolate between data points. While there are two main paradigms, parametric (e.g., temporal…
Recent agentic-robotics systems, from Code-asPolicies to modern vision-language-action (VLA) foundation models, presuppose that drivers, SDKs, or ROS-style primitives for the target hardware already exist. Writing those primitives is the…
Monitoring moisture level of land in a large-scale plantation is tedious. The main objective of this project is to use a robotic kit in collaboration with the on-field moisture sensor circuits, thereby creating an efficient and economical…
Vision-Language-Action models (VLAs) support generalist robotic control by enabling end-to-end decision policies directly from multi-modal inputs. As trained VLAs are increasingly shared and adapted, protecting model ownership becomes…