机器人学
Natural-language interfaces can make swarm robotics more accessible to non-expert operators, but they must translate ambiguous user intent into executable swarm behaviors without unsupported actions, malformed programs, or unsafe plans.…
3D global relocalization is one of the key capabilities for mobile robots in practical applications. However, in large scale spaces, existing methods often suffer from prolonged online relocalization time due to factors such as the massive…
Physics-based digital twins aim to predict the dynamics of real-world objects under interaction, enabling real-to-sim-to-real applications in robotics. Current approaches reconstruct such twins as explicit physical models (such as…
Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper presents BrickCraft, a compositional framework designed for…
The Danish Technological Institute (DTI) focuses on transferring advanced technologies (including robots) to the industry and the public sector. One key application is laptop refurbishment using specialized robots, aimed at promoting reuse,…
World Action Models (WAMs) enable decision-making through imagined rollouts by predicting future observations and actions. However, the reliability of these imagined futures remains under-examined: is a generated future merely visually…
Bird's-eye-view (BEV) images have been widely demonstrated to provide valuable prior information for navigation. Given the global information provided by such views, two key challenges remain: how to fully exploit this information and how…
While Vision-Language-Action (VLA) models offer broad general capabilities, deploying them on specific hardware requires real-world adaptation to bridge the embodiment gap. Since robot demonstrations are costly, this adaptation must often…
V2X can warn an autonomous vehicle about hazards beyond line-of-sight, but it also brings uncertainty: messages may be delayed, dropped, or even forged. Meanwhile, map knowledge may change during a trip, forcing the vehicle to replan under…
Cameras and LiDAR degrade in rain, fog, and snow, while millimeter-wave radar remains largely unaffected. We align a radar encoder to frozen SigLIP vision embeddings and decode structured scene captions through a frozen vision-language…
Deploying massive large language models (LLMs) as continuous cognitive engines for robotics is bottlenecked by the time-to-first-token (TTFT) latency required to process extensive state histories. Existing solutions like RAG or sliding…
Biological laboratory automation can reduce repetitive manual work and improve reproducibility, but reliable embodied execution in wet-lab environments remains challenging. Protocols are often unstructured, labware is frequently transparent…
We prove that aerodynamic co-contraction in a redundant dual-rotor actuator can tune a passive, trim-defined aero-mechanical damping while keeping the commanded net force constant. In particular, we define an incremental damping coefficient…
Classic exploration methods often rely on dense occupancy maps or high-resolution point clouds for frontier detection and path planning, resulting in substantial memory consumption and computational overhead. Moreover, micro UAVs under…
Stochastic trajectory optimization methods like STOMP enable planning with non-differentiable costs, offering substantial flexibility over gradient-based approaches. We show that STOMP implicitly minimizes the KL divergence from a Boltzmann…
This paper introduces Dr-BA, a first-of-its-kind radar bundle adjustment (BA) framework that operates directly on 2D spinning radar intensity images. Unlike camera or lidar sensors, radar is largely unaffected by precipitation, making it a…
Robot systems for teleoperation commonly use a spring-like force pulling the follower robot towards the leader's position to track their movements. With this control strategy, the tracking accuracy deteriorates when the follower' stiffness…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…
Autonomous vehicles (AVs) require extensive testing in simulation, but test case generation for driving scenarios is laborious. The desired scenarios are often out-of-distribution and have precise requirements on interactions with the AV…
We contribute Bi3, a dataset of social robot navigation among groups of people in a constrained lab space. Compared to prior data collection efforts for social robot navigation, our dataset is unique in that it features: an original…