Research
Research
Research
Research
2,645+ open-access research outputs.
This paper presents an expert-guided active-inference-inspired framework for adaptive UAV swarm trajectory planning. The proposed method converts multi-UAV trajectory design from a repeated combinator…
Annotating long-horizon robotic demonstrations with precise temporal action boundaries is crucial for training and evaluating action segmentation and manipulation policy learning methods. Existing ann…
Deploying a neuro-symbolic task planner on a new domain today requires significant manual effort: a domain expert must author relaxation and complementary rules, and hundreds of training problems must…
With the rapid advancement of computer technologies enabling fast calculations of complex structures, numerical methods have become a central tool in engineering sciences, while physical models have i…
Despite transformative advances in generative motion synthesis, real-time interactive motion control remains dominated by traditional techniques. In this work, we identify two key challenges in bridgi…
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. …
Vision-Language-Action (VLA) models are promising for generalist robot control, but on-robot deployment is bottlenecked by real-time inference under tight cost and energy budgets. Most prior evaluatio…
Automated vehicles (AVs) are commonly programmed to yield unconditionally to pedestrians in the interest of safety. However, this design choice can give rise to the Freezing Robot Problem in which ped…
Variable flux memory motors, which employ Low Coercive Force (LCF) magnets, achieve extended high-efficiency operation through controllable magnetization states. To address the need for a unified appr…
We present Move-Then-Operate, a Vision language action framework that explicitly decouples robotic manipulation into two distinct behavioral phases: coarse relocation (move) and contact-critical inter…
Physics-aware symbolic simulation of 3D scenes is critical for robotics, embodied AI, and scientific computing, requiring models to understand natural language descriptions of physical phenomena and t…
Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonom…
AI is increasingly used to accelerate engineering design by improving decision-making and shortening iteration cycles. Application to marine propeller design, however, remains challenging due to scarc…
Autonomous robots deployed in mass casualty incidents (MCI) face the challenge of making critical decisions based on incomplete and noisy perceptual data. We present an autonomous robotic system for c…
Multi-modal trajectory generation is essential for safe autonomous driving, yet existing diffusion-based planners suffer from high inference latency due to iterative neural function evaluations. This …
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringe…
Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level knowledge and spatial aw…
Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In…
Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefit from different int…
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single codebase. Most open-source VLA efforts specialize on the action training stage, often stitching tog…
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