机器人学
Models and methods originally developed for Novel View Synthesis and Scene Rendering, such as Neural Radiance Fields (NeRF) and Gaussian Splatting, are increasingly being adopted as representations in Simultaneous Localization and Mapping…
Medical palpation is more than force transmission. It is a bidirectional cognitive and emotional exchange between doctor and patient. We model two complementary touch pathways: active touch by the doctor (kinesthetic and tactile) and…
Biped robots usually adopt feet with a rigid structure that simplifies walking on flat grounds and yet hinders ground adaptation in unstructured environments, thus jeopardizing stability. We recently explored in the SoftFoot the idea of…
Imitation learning is a well-established approach for machine-learning-based control. However, its applicability depends on having access to demonstrations, which are often expensive to collect and/or suboptimal for solving the task. In…
Parallel trajectory optimization via the Alternating Direction Method of Multipliers (ADMM) has emerged as a scalable approach to long-horizon motion planning. However, existing frameworks typically decompose the problem into parallel…
The real-world deployment of Vision-Language-Action (VLA) models remains limited by the risk of unpredictable and irreversible physical harm. However, we currently lack effective mechanisms to proactively detect these physical safety risks…
Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonomous manipulation tasks in open-ended…
Wireless localization of permanent magnets enables occlusion-free guidance for medical interventions, yet its practical accuracy is fundamentally limited by two coupled challenges: the poor observability of conventional planar sensor arrays…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Household environments present one of the most common, impactful yet challenging application domains for robotics. Within household scenarios, manipulating deformable objects is particularly difficult, both in simulation and real-world…
This study investigates the kinematic role of palm degrees of freedom (DoF) in enhancing thumb opposability in a five-finger robotic hand. A hand model consisting of a five DoF thumb and four fingers with three to four DoF is analyzed,…
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict safety constraint satisfaction, like…
Vision-Language-Action (VLA) models promise generalist robot manipulation, but are typically trained and deployed as short-horizon policies that assume the latest observation is sufficient for action reasoning. This assumption breaks in…
Industrial robots are widely used in manufacturing, yet most manipulation still depends on fixed waypoint scripts that are brittle to environmental changes. Learning-based control offers a more adaptive alternative, but it remains unclear…
Autonomous robots operating in open environments need the ability to continuously handle tasks that are not covered by predefined local methods. However, existing approaches often rely on repeated large-language-model (LLM) interaction for…
Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed variable-time-step spatio-temporal…
Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scalable robotics policy evaluation. In this paper, we propose…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that leverages learned simulation priors to inform…
We present Selective Non-Gaussian Refinement (SNGR), a SLAM framework that augments iSAM2 with targeted nested sampling on windows where Gaussian approximations are likely to fail. We detect such regions using the condition number of joint…