Research
Research
Research
Research
895+ open-access research outputs.
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
Skill libraries in deployed robotic systems are continually updated through fine-tuning, fresh demonstrations, or domain adaptation, yet existing typed-composition methods (BLADE, SymSkill, Generative…
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast the inference is. Asy…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit a…
This paper studies the problem of robot performance evaluation, focusing on how to obtain accurate and efficient estimates of real-world behavior under severe constraints on physical experimentation. …
Industrial robotic manipulation demands reliable long-horizon execution across embodiments, tasks, and changing object distributions. While Vision-Language-Action models have demonstrated strong gener…
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…
Collecting embodied interaction data at scale remains costly and difficult due to the limited accessibility of conventional interfaces. We present a gamified data collection framework based on Unity t…
Regrasp planning is often required when one pick-and-place cannot transfer an object from an initial pose to a goal pose while maintaining grasp feasibility. The main challenge is to reason about shar…
We present a screw geometry-based manipulation planning framework for the robotic automation of solution-based synthesis, exemplified through the preparation of gold and magnetite nanoparticles. The s…
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physica…
Ensuring safety and reliability in human-robot interaction (HRI) requires the timely detection of unexpected events that could lead to system failures or unsafe behaviours. Anomaly detection thus play…
Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distribution. This limitati…
This paper presents the SoftHand Model-W: a 3D-printed, underactuated, anthropomorphic robot hand based on the Pisa/IIT SoftHand, with an integrated antagonistic tendon mechanism and 2 degree-of-freed…
All Lipschitz dynamics with the weak infinitesimal contraction (WIC) property can be expressed as a Lipschitz nonlinear system in proportional negative feedback -- this statement, a ``structure theore…
The convergence of low-altitude economies, embodied intelligence, and air-ground cooperative systems creates growing demand for simulation infrastructure capable of jointly modeling aerial and ground …
Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount…
Vision-Language-Action (VLA) models such as $\pi_0$ have demonstrated remarkable generalization across diverse fixed-base manipulators. However, transferring these foundation models to aerial platform…
Reachability computations that rely on learned or estimated models require calibration in order to uphold confidence about their guarantees. Calibration generally involves sampling scenarios inside th…
Miniaturised soft pneumatic actuators are crucial for robotic intervention within highly constrained anatomical pathways. This work presents the design and validation of a fibre-reinforced soft actuat…
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