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…

A single robot platform, Handroid, is introduced that can function as both a dexterous hand and a humanoid robot, with interchangeable control and learning frameworks.

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.

This paper proposes a compact, explicit interface for humanoid robots that enables diverse manipulation skills and demonstrates its feasibility through natural-language-driven task roll-outs.

The paper presents CONTACTMIMIC, a learning framework that tracks explicit part-level binary contact commands alongside keypoint trajectories for object interaction tasks.

Researchers built a compliant, tapered, continuum arm inspired by the elephant trunk using 3D printing and tendon-driven actuation, enabling whole-body grasping of various objects.

This paper presents Mana, a sim-to-real framework for dexterous articulated tool manipulation.

This paper presents OrchardBench, a physically-grounded, GPU-parallel simulation of apple-orchard trees for robotic tree-fruit harvesting research.

This paper provides a comparative framework analyzing the distinct security and privacy risks inherent in virtual and robotic assistive systems, culminating in design recommendations for trustworthy t…

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

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.

PaCo-VLA introduces a passivity-shielded compliance prior to safely bridge the gap between high-level Vision-Language-Action (VLA) semantic outputs and low-level, force-sensitive robotic control.

This paper presents a complete pipeline for artificial nociception in a robotic arm, converting skin pressure into bio-inspired withdrawal motions using a reflex controller.