相关论文: Robust Visual Embodiment: How Robots Discover Thei…
Recent advances in imitation learning have shown significant promise for robotic control and embodied intelligence. However, achieving robust generalization across diverse mounted camera observations remains a critical challenge. In this…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…
Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…
Object detectors achieve strong performance under nominal imaging conditions but can fail silently when exposed to blur, noise, compression, adverse weather, or resolution changes. In safety-critical settings, it is therefore insufficient…
One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…
Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful…
Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…
If robots are to become ubiquitous, they will need to be able to adapt to complex and dynamic environments. Robots that can adapt their bodies while deployed might be flexible and robust enough to meet this challenge. Previous work on…
This paper overviews certain radiation detection, perception, and planning challenges for nuclearized robotics that aim to support the waste management and decommissioning mission. To enable the autonomous monitoring, inspection and…
Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to…
Human visual systems are robust to a wide range of image transformations that are challenging for artificial networks. We present the first study of image model robustness to the minute transformations found across video frames, which we…
Robot manipulation is increasingly poised to interact with humans in co-shared workspaces. Despite increasingly robust manipulation and control algorithms, failure modes continue to exist whenever models do not capture the dynamics of the…
Most image deblurring methods assume an over-simplistic image formation model and as a result are sensitive to more realistic image degradations. We propose a novel variational framework, that explicitly handles pixel saturation, noise,…
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Robot manipulation policies, while central to the promise of physical AI, are highly vulnerable in the presence of external variations in the real world. Diagnosing these vulnerabilities is hindered by two key challenges: (i) the relevant…
Multimodal Large Language Models struggle to maintain reliable performance under extreme real-world visual degradations, which impede their practical robustness. Existing robust MLLMs predominantly rely on implicit training/adaptation that…