机器人学
This manuscript extends our previous multimodal human-robot interaction system by introducing a controlled ablation study of the three modules that most strongly influence end-to-end performance: the large language model used for action…
Foundational models have advanced social robotics, enabling richer perception and communicative interaction with users. However, current systems still struggle with multi-turn engagement, social-relationship reasoning, and contextually…
Rehabilitation aims to help patients with limited mobility regain their physical abilities through targeted movements, exercises, stimulation, and other therapeutic methods. Recent advances in technology have introduced sensor-based systems…
This work presents ThermoMesh, a passive thin-film thermoelectric mesh sensor designed to detect and characterize spatio-temporally sparse heat sources through conduction-based thermal imaging. The device integrates thermoelectric junctions…
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this branch can be removed at inference with…
Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER, a benchmark for Kinematic and Dynamic…
Learning robot manipulation from human videos is appealing due to the scale and diversity of human demonstrations, but transferring such demonstrations to executable robot behavior remains challenging. Prior work either relies on robot data…
Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, conventional control strategies often struggle with underactuated nonlinear dynamics, suffering from sensitivity to model mismatches…
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly enhanced the agility of individual…
Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the scan plane. We…
Reliable object manipulation requires understanding physical properties that vary across objects and environments. Vision-language model (VLM) planners can reason about friction and stability in general terms; however, they often cannot…
Generalizing tool manipulation requires both semantic planning and precise physical control. Modern generalist robot policies, such as Vision-Language-Action (VLA) models, often lack the physical grounding required for contact-rich tool…
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…
Diffusion policies have recently emerged as a powerful paradigm for visuomotor control in robotic manipulation due to their ability to model the distribution of action sequences and capture multimodality. However, iterative denoising leads…
Unmanned aerial vehicles are rapidly transforming multiple applications, from agricultural and infrastructure monitoring to logistics and defense. Introducing greater autonomy to these systems can simultaneously make them more effective as…
In this letter, we propose an Attention-Based Neural-Augmented Kalman Filter (AttenNKF) for state estimation in legged robots. Foot slip is a major source of estimation error: when slip occurs, kinematic measurements violate the no-slip…
Developing high-fidelity, interactive digital twins is crucial for enabling closed-loop motion planning and reliable real-world robot execution, which are essential to advancing sim-to-real transfer. However, existing approaches often…
On the way toward full autonomy, sharing roads between automated and autonomous vehicles in so-called mixed traffic is unavoidable. Moreover, even if all vehicles on the road were autonomous, pedestrians would still cross streets. We…
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…
Autonomous robots operating in dynamic environments must balance global path optimality with real-time responsiveness to disturbances. This requires addressing a fundamental trade-off between computationally expensive global planning and…