相关论文: Fluidic FlowBots: Intelligence embodied in the cha…
Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a small corrective motion. We propose…
Microfluidic devices are utilized to control and direct flow behavior in a wide variety of applications, particularly in medical diagnostics. A particularly popular form of microfluidics -- called inertial microfluidic flow sculpting --…
Reinforcement learning has emerged as a promising paradigm for aligning diffusion and flow-matching models with human preferences, yet practitioners face fragmented codebases, model-specific implementations, and engineering complexity. We…
Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…
Soft robotics has emerged as a versatile field with applications across various domains, from healthcare to industrial automation, and more recently, art and interactive installations. The inherent flexibility, adaptability, and safety of…
With the continuing rapid development of artificial microrobots and active particles, questions of microswimmer guidance and control are becoming ever more relevant and prevalent. In both the applications and theoretical study of such…
Embodied navigation requires agents to integrate perception, reasoning, and action for robust interaction in complex 3D environments. Existing approaches often suffer from incoherent and unstable reasoning traces that hinder generalization…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
Robotic instruction following tasks require seamless integration of visual perception, task planning, target localization, and motion execution. However, existing task planning methods for instruction following are either data-driven or…
Recent advances in end-to-end autonomous driving leverage multi-view images to construct BEV representations for motion planning. In motion planning, autonomous vehicles need considering both hard constraints imposed by geometrically…
Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…
We present a steady jet flow-based flow control of flexible membrane wings for an adaptive and efficient motion of bat-inspired drones in complex flight environments. A body-fitted variational computational aeroelastic framework is adopted…
Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenarios. However, existing modeling approaches typically face a…
Enabling robots to execute novel manipulation tasks zero-shot is a central goal in robotics. Most existing methods assume in-distribution tasks or rely on fine-tuning with embodiment-matched data, limiting transfer across platforms. We…
Aiming to achieve both high functionality and flexibility in soft robot system, this paper presents a soft urethane sheet-like valve with an amplifier that can perform logical operations using only pneumatic signals. When the control…
Continual learning in robotics seeks systems that can constantly adapt to changing environments and tasks, mirroring human adaptability. A key challenge is refining dynamics models, essential for planning and control, while addressing…
Electrohydraulic servosystems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including high…
Traffic simulation is an essential tool for transportation infrastructure planning, intelligent traffic control policy learning, and traffic flow analysis. Its effectiveness relies heavily on the realism of the simulators used. Traditional…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
Harnessing complex body dynamics has been a long-standing challenge in robotics. Soft body dynamics is a typical example of high complexity in interacting with the environment. An increasing number of studies have reported that these…