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

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…

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

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

The paper proposes a novel attack paradigm demonstrating how compromising a single robot in an LLM-controlled multi-robot system can rapidly propagate malicious intent to cause coordinated unsafe acti…

The paper introduces Graph-as-Policy (GaP), a multi-agent coding harness for Variational Automation tasks that generates directed computation graphs and improves success rates and throughput through i…

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 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 explores tools for control engineers to design socio-technical systems in a more principled and ethical manner, using feedback optimization, control of Markov decision processes, and model…

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…

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…

This paper proposes CertifiedCacheMPC, a caching system for Model Predictive Control in hierarchical quadruped controllers, ensuring primal feasibility and cost suboptimality.

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…

A new framework called HOST enables robots to acquire new skills from a single human video in seconds while retaining previously mastered skills.

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