机器人学
Learned driving agents often degrade when deployed in unseen environments. This paper studies a deliberately bounded instance of that problem in the CARLA simulator: zero-shot transfer of a closed-loop fixed-route driving agent from Town05…
This paper presents an expert-guided active-inference-inspired framework for adaptive UAV swarm trajectory planning. The proposed method converts multi-UAV trajectory design from a repeated combinatorial optimization problem into a…
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…
The advancement of automated vehicles introduces complex safety challenges, particularly in dynamic and unpredictable environments where AI-enabled perception systems must operate reliably. Ensuring compliance with safety standards such as…
Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-relevant objects remains a fundamental challenge. This difficulty…
Policy optimization in high-dimensional continuous control for robotics remains a challenging problem. Predominant methods are inherently local and often require extensive tuning and carefully chosen initial guesses for good performance,…
A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human video data has attracted rapidly growing…
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…
Understanding human actions is critical for advancing behavior analysis in human-robot interaction. Particularly in tasks that demand quick and proactive feedback, robots must recognize human actions as early as possible from incomplete…
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail to escape local minima in complex scenarios due to their…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
Automatic Emergency Braking (AEB) systems represent a safety-critical national interest, with the National Highway Traffic Safety Administration (NHTSA) Federal Motor Vehicle Safety Standard (FMVSS No. 127) requiring AEB in all new light…
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popular approach for this class of problems,…
We present a priority-aware intelligent lane change advisory system based on multi-agent federated reinforcement learning, namely PALCAS, for autonomous vehicles (AVs). While existing lane-change approaches typically focus on single-agent…
This paper discusses null-space wrench components in parallel manipulators. We examine the adaptation of the two most common characterizations of these components in grasp-like systems, namely, interaction forces and internal loads, to…
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen…
Embodied foundation models have achieved significant breakthroughs in robotic manipulation, yet they still depend heavily on large-scale robot demonstrations. Although recent works have explored leveraging human data to alleviate this…
Pumping fluids is fundamental to a wide range of industrial, environmental, and biomedical applications. Among various pumping mechanisms, peristaltic pumps enable efficient and safe fluid transport by deforming an elastic tube without…
Upper-limb exoskeletons (ULEs) have the potential to restore functional independence in individuals with severe motor impairments; however, the clinical relevance of wrist degrees of freedom (DoF), particularly abduction-adduction (Ab-Ad),…