机器人学
Modeling tethered space systems is critical for advanced orbital operations. Flexible components such as tethers and space nets are integral to these systems but present significant control challenges due to their high dimensional, strongly…
Vision-based aerial tracking is critical in GPS-denied environments. Reliable perception for tracking depends on large-scale labeled data, yet most photorealistic datasets rely on heavy manual annotation and are time-consuming to produce.…
Long-horizon embodied manipulation requires agents to remember persistent objects, track changing scene states, and reuse prior interaction knowledge. However, existing agent memories are often stored as unstructured histories or…
Redundant robotic multi-axis additive manufacturing (MAAM) enables support-free and conformal fabrication, but trajectory optimization for long-horizon paths remains challenging under strict deposition-position constraints and time-varying…
Standard stereo VIO focuses exclusively on the benefit of metric scale via single-spectrum baselines, often overlooking the risks of spectral redundancy. This structural limitation leads to correlated failures, where both sensors…
Aiming at the problem that obstacle avoidance flexibility and formation integrity are difficult to coexist in multi-UAV formation motion in complex obstacle environments , and that the traditional artificial potential field (APF) method…
Real-time monocular Simultaneous Localization and Mapping (SLAM) fundamentally suffers from scale ambiguity and a lack of geometric self-correction. While 3D Gaussian Splatting (3DGS) enables high-fidelity rendering, existing RGB-only…
Robots working in unstructured or partially unobservable environments must combine accurate motion with physical compliance that can passively correct contact misalignment. Soft robots provide this compliance but have struggled to precisely…
Connected and automated vehicle (CAV) platooning promises gains in energy efficiency and traffic throughput and, most critically, in safety. These safety benefits hinge on string stability, which determines how disturbances propagate along…
Cooperative localization using range-based measurements is critical for multi-robot systems operating in GPS-denied and unstructured environments. However, traditional cooperative approaches require sharing explicit spatial coordinates…
Vision-Language-Action (VLA) systems, built on pretrained vision-language models (VLMs), have shown rapidly improving performance on robot manipulation benchmarks. These gains are commonly interpreted as evidence that semantic…
In this paper, we identify a semantic decomposition in robot action sequences, separating task-level motion intent from execution-level refinements. By analyzing actions in the spectral domain using the discrete cosine transform (DCT), we…
Locating a vehicle and determining its orientation in an uncertain environment is a critical challenge in autonomous vehicle navigation and path planning. To address these challenges, a vehicle estimates its pose while depending on sensor…
Robot imitation learning often relies on costly robot demonstrations, while abundant action-free visual demonstrations, such as human videos, are difficult to use because they lack robot-executable actions and suffer from embodiment gaps.…
We study action-conditioned world modeling as a scalable way to learn transferable dynamics priors for robot learning. By pretraining a model to predict how actions drive visual scene evolution, the resulting world model captures reusable…
While robust map maintenance has advanced significantly, existing studies have focused on specific tasks, especially dynamic object removal or change detection. In this paper, we take a holistic view of the map maintenance problem and…
Large Language Models (LLMs) are increasingly embedded in social robots to support natural group interactions, yet their role in complex multi-party settings remains underexplored. In particular, it is unclear how LLM-driven robots decide…
Massive robot swarms can explore unknown environments quickly, but adding robots eventually stops helping. Doorways and dense traffic create congestion, increasing inter-robot contacts and reducing the value of each additional robot. We…
Multi-robot manipulation requires jointly reasoning about contact formations, robot motions under coupled dynamics, and collision avoidance. Systematically searching over this large space is difficult and becomes increasingly intractable as…
Thermal imaging is resilient to adverse conditions, such as intense illumination, low-light operation, and fog, and can therefore mitigate odometry degradation when visible-spectrum imagery becomes unreliable. Nevertheless, most thermal…