机器人学
Robust robot autonomy depends on scene representations that remain stable enough to support localization, navigation, and downstream decision making in dynamic environments. Monocular Gaussian Splatting SLAM provides high-fidelity mapping,…
Autonomous navigation in unknown environments requires a robot to efficiently reach a predefined goal while exploring without prior maps. Although progress has been made in this area, most existing works still rely on traditional planning…
We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time. Prior physics-based trackers either rely on expensive full-body motion capture and error-prone trajectory…
Behavior-cloned policies often learn multiple behavior modes from demonstration datasets, including modes that are unsafe or otherwise undesired at deployment. For example, a policy trained on diverse handover demonstrations may learn to…
Global Navigation Satellite System (GNSS) navigation is widely used to provide absolute, outdoor positioning in field robotics. Advances in Real-Time Kinematic (RTK) technology can achieve centimeter-level accuracy, facilitating autonomous…
Touch resolves the physical-property ambiguity left by vision: exploratory contact recovers shape, texture, compliance, and material, and visuo-haptic object representations converge in ventral visual cortex. We ask whether representation…
Continuum robots offer key advantages in navigating unstructured environments, but their safe operation requires accurate estimation of the external contact forces acting anywhere along the robot body. Estimating these forces at unknown…
In aided inertial navigation, measurements from different sensors are often subject to unknown relative time delays. Consider a single aiding sensor whose measurements have an unknown but constant delay relative to the inertial-measurement…
Autonomous vehicles (AVs) are increasingly deployed in urban environments, yet their safety frameworks remain primarily designed around collision avoidance and minimal risk condition (MRC) behaviors such as slowing or stopping when…
Vision-Language-Action (VLA) models demonstrate impressive reasoning over visual, semantic, and spatial task variations by leveraging large-scale vision and language pre-training. They remain, however, largely blind to contact forces, which…
Rolling motion planning is challenging because rolling contact imposes nonholonomic constraints and the configuration evolves on a curved manifold. The problem becomes substantially harder in multi-contact settings, where multiple bodies…
Keypose-based manipulation decomposes tasks into critical waypoints to simplify policy learning for long-horizon tasks, but existing approaches rely on task-specific heuristics or manual annotation to extract keyposes from demonstrations.…
Robots deployed in safety-critical environments must execute motions that are simultaneously robust to disturbances and provably safe from collisions. Dynamic Movement Primitives (DMPs) offer inherent stability, temporal flexibility, and…
Accurate localization of unmanned aerial vehicles (UAVs) is essential for applications such as structural health monitoring, especially in environments where Global Positioning System (GPS) signals are denied or unreliable, like indoor…
Accurate 6-DoF object pose estimation is fundamental to robotic manipulation, yet vision-based methods often fail under occlusion, poor lighting, and reflective or transparent surfaces. We present YOTO, a tactile-only pose estimation system…
End-to-end unmanned aerial vehicle (UAV) navigation can achieve impressive agility in simulation, yet its obstacle-avoidance behavior often degrades after deployment because the policy must tolerate simulator mismatch, sensing irregularity,…
Human videos are a scalable source of supervision for robot manipulation, as they are abundant and naturally capture rich object interactions. However, transferring human demonstrations to robots remains challenging due to embodiment…
At competitive speeds and spins, a table tennis ball follows complex, counterintuitive trajectories that a robot must track and precisely counter within fractions of a second. Training a reinforcement learning policy capable of these skills…
Social robot navigation (SRN) requires more than geometric path planning; it demands understanding human intentions, social norms, and contextual cues to generate socially compliant behaviors. Although classical navigation methods provide…
Lunar helium-3 is a highly valuable strategic resource, pivotal to the advancement of both deep-space exploration and space mining. Existing lunar helium-3 exploration methodologies rely primarily on indirect measurements via remote…