机器人学
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
AcoustoBots are mobile acoustophoretic robots capable of delivering mid-air haptics, directional audio, and acoustic levitation, but existing implementations rely on scripted commands and lack an intuitive interface for real-time human…
Reliable pipeline inspection is critical to safe energy transportation, but is constrained by long distances, complex terrain, and risks to human inspectors. Unmanned aerial vehicles provide a flexible sensing platform, yet reliable…
Recent navigation systems achieve strong benchmark results, yet real-world deployment often remains visibly stop-and-go. This bottleneck arises because the sense-inference-execution loop is still blocking: after each new observation, the…
Bimanual mobile manipulation requires a seamless integration between high-level semantic reasoning and safe, compliant physical interaction - a challenge that end-to-end models approach opaquely and classical controllers lack the context to…
Vision-language models (VLMs) have demonstrated remarkable capabilities in understanding human-object interactions, but their application to robotic systems with non-humanoid morphologies remains largely unexplored. This work investigates…
Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload generates an offset wrench at the robot wrist. During…
Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead to topology changes. The latter is…
Traditional policy learning methods in cooperative pursuit face fundamental challenges in biomimetic underwater robots, where long-horizon decision making, partial observability, and inter-robot coordination require both expressiveness and…
Achieving truly fluid interaction with robots with speech interfaces remains a hard problem, and the experience of current Human-Robot Interaction (HRI) remains laboured and frustrating. Some of the barriers to fluid interaction stem from a…
Robotic parkour provides a compelling benchmark for advancing locomotion over highly challenging terrain, including large discontinuities such as elevated steps. Recent approaches have demonstrated impressive capabilities, including dynamic…
As groups of robots increasingly collaborate with humans, understanding how humans perceive them is critical for designing effective human-robot teams. While prior research examined how humans interpret and evaluate the abilities and…
Goal-conditioned navigation models for ground robots trained using supervised learning show promising zero-shot transfer, but their collision-avoidance capability nevertheless degrades under distribution shift, i.e. environmental, robot or…
Efficient and robust path planning hinges on combining all accessible information sources. In particular, the task of path planning for robotic environmental exploration and monitoring depends highly on the current belief of the world. To…
Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between different states such as up-right walking and…
Learning diverse locomotion skills for humanoid robots in a unified reinforcement learning framework remains challenging due to the conflicting requirements of stability and dynamic expressiveness across different gaits. We present a…
Satellite constellation design requires optimizing orbital parameters across multiple satellites to maximize mission specific metrics. For many types of mission, it is desirable to maximize coverage and minimize revisit gaps over ground…
Language-guided unmanned aerial vehicles (UAVs) often fail not from bad reasoning or perception, but from execution mismatch: the gap between a planned trajectory and the controller's ability to track it when the real dynamics differ from…
Widespread RGB-Depth (RGB-D) sensors and advanced 3D reconstruction technologies facilitate the capture of indoor spaces, improving the fields of augmented reality (AR), virtual reality (VR), and extended reality (XR). Nevertheless, current…
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in $SE(3)$ as a coupled system. The proposed controller is designed to enable…