Research
Research
Research
Research
573+ open-access research outputs.
Vision-language-action models (VLAs) have been extensively used in robotics applications, achieving great success in various manipulation problems. More recently, VLAs have been used in long-horizon t…
What appears effortless to a human waiter remains a major challenge for robots. Manipulating objects nonprehensilely on a tray is inherently difficult, and the complexity is amplified in dual-arm sett…
Precision-critical manipulation requires both global trajectory organization and local execution correction, yet most vision-language-action (VLA) policies generate actions within a single unified spa…
Robots must verbalize their past experiences when users ask "Where did you put my keys?" or "Why did the task fail?" Yet maintaining life-long episodic memory (EM) from continuous multimodal perceptio…
Conventional field operations spend most of their energy moving the tractor body, not the implement. Yet feasibility studies for novel agricultural vehicles rarely tie mechanics, energy harvest, draft…
We present a large-scale survey of sustainability communication and motivation in robotics research. Our analysis covers nearly 50,000 open-access papers from arXiv's cs.RO category published between …
This paper presents an empirical study of reset-free reinforcement learning (RL) for real-world agile driving, in which a physical 1/10-scale vehicle learns continuously on a slippery indoor track wit…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain param…
The proverb ``see something, say something'' captures a core responsibility of autonomous mobile robots in safety-critical situations: when they detect a hazard, they must communicate--and do so quick…
Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly s…
Vision-language-action (VLA) models have shown great potential in building generalist robots, but still face a dilemma-misalignment of 2D image forecasting and 3D action prediction. Besides, such a vi…
Developing general-purpose robots capable of autonomously operating in human living environments requires the ability to adapt to continuously evolving task conditions. However, adapting high-dimensio…
Vision--Language--Action (VLA) models that encode actions using a discrete tokenization scheme are increasingly adopted for robotic manipulation, but existing decoding paradigms remain fundamentally l…
Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions. However, existing hierarchical and autoregressive paradigms often…
This study investigates a method to guide and control fish schools using virtual fish trained with reinforcement learning. We utilize 2D virtual fish displayed on a screen to overcome technical challe…
Objective estimators of multimedia quality are often judged by comparing estimates with subjective "truth data," most often via Pearson correlation coefficient (PCC) or mean-squared error (MSE). But s…
Quadrupedal robots show great potential for valuable real-world applications such as fire rescue and industrial inspection. Such applications often require urgency and the ability to navigate agilely,…
Stabilizing unsecured payloads against the inherent oscillations of dynamic bipedal locomotion remains a critical engineering bottleneck for humanoids in unstructured environments. To solve this, we i…
4D radars, which provide 3D point cloud data along with Doppler velocity, are attractive components of modern automated driving systems due to their low cost and robustness under adverse weather condi…
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-to…
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