This paper presents a robot-agnostic compliant-control framework with standardized interfaces for ROS control ecosystem, enabling reusable infrastructure for various manipulators and diverse compliant…

This paper provides a systematic survey of ROS 2 middleware and identifies architectural limits through three dimensions: Space, Time, and State.

The paper proposes CTRL-STEER, a closed-loop framework that adaptively adjusts intervention strength to stabilize concept regulation and improve task success in Vision-Language-Action models without r…

Proposed an asynchronous block coordinate descent algorithm for distributed trajectory estimation in robotics, reducing communications by up to 96.9% and achieving exponential convergence.

This paper proposes coupled egocentric control, a body-following teleoperation approach for whole-body robot control, improving efficiency, reducing effort, and increasing ease of use.

GSAM introduces a generalizable and safe robotic framework for articulated object manipulation, significantly improving success rates and reducing variability across diverse tasks by integrating commo…

The paper proposes a robust sim-to-sim-to-real DRL approach to enable double-Ackermann robots to achieve full pose control despite significant actuation uncertainties and discrepancies between simulat…

Development of a compliant full-body telepresence control stack for miniature humanoids, enabling tele-locomotion and manipulation.

This paper expands the Quality of Control (QoC) framework to address network-induced uncertainties in collaborative robotics, validating the models through experiments on a private 5G testbed.

ASPIRE is a continual learning system that autonomously writes and refines robot control programs in a code-as-policy paradigm, discovering transferable skills and surpassing prior methods on various…

The paper proposes an iCEM+TL framework that combines the Sample-efficient Cross-Entropy Method with Transfer Learning and Reward Redesign to improve robotic motion planning for complex tasks like sta…

This paper presents ABot-C0, a motion-control system for quadruped robots, which includes a scalable multi-source motion-data pipeline, robust policy learning, and a unified deployment stack for real-…

This paper proposes an ontological representation for cooperative affordances in social robotics, enabling agents to extend their action possibilities through interaction.

This paper addresses the vulnerability of DNNs used in robotic semantic segmentation to adversarial attacks by proposing specialized detection strategies to enhance safety in robotic perception system…

The paper proposes FT-WBC, a fault-tolerant loco-manipulation framework for legged manipulators using a decoupled policy architecture, a Fault Estimator, and a Posture Adaptation Module for fault-awar…

This paper proposes a sensorless four-channel architecture for teleoperation using inverse dynamics modeling, outperforming conventional methods in human-scale manipulation tasks.

This paper proposes novel high-order control barrier functions and a high-order control Lyapunov function for the optimal safety control problem of nonlinear control systems.

This paper addresses the security vulnerabilities in drone swarm control algorithms by proposing two fuzzing tools, SwarmFuzzGraph and SwarmFuzzBinary, to discover Swarm Propagation Vulnerabilities (S…