11 accepted papers
As multi-robot collaboration becomes increasingly prevalent in modern industrial settings, ensuring collision-free operation among robots sharing the same workspace remains a critical challenge. This paper proposes an integrated framework that combines 3D Gaussian Splatting (3D-GS) for high-fidelity…
Dexterous control of multi-joint manipulators such as humanoid robot hands remains challenging when relying solely on visual feedback. Cameras are fundamentally limited in measuring contact forces, slip, and surface deformation during physical interaction, and are susceptible to occlusion in contact…
Recent attempt in dataset distillation has been made to compress large-scale training datasets into compact synthetic versions, significantly reducing memory usage and training costs. While parameterization-based approaches have shown promising results on image datasets, their application to 3D poin…
Tendon-driven Continuum Robots (TDCRs) are widely used in confined operating systems due to their thin shape, flexibility, and compliance making them easily deployable in narrow or contact-rich environments. However, real-time safe control near obstacles remains challenging. Computationally expensiv…
Vision-Language-Action (VLA) models trained via imitation learning have achieved impressive results on robotic manipulation, yet their performance degrades significantly on complex, multi-step tasks. We evaluate NVIDIA GR00T N1.6, a state-of-the-art cross-embodiment VLA model (~1.09B parameters), on…
Large-scale datasets are usually required to train deep neural networks; however, they increase computational complexity, hindering practical applications. Recently, dataset distillation for images and texts has attracted considerable attention, as it reduces the original dataset to a small syntheti…
Soft mobile robots have shown great potential in unstructured and confined environments by taking advantage of their excellent adaptability and high dexterity. However, there are several issues to be addressed, such as actuating speeds and controllability, in soft robots. In this letter, a new vibra
Soft robotics has proven the capability of robots interacting with their environments including humans by taking advantage of the property of high compliance in recent years. Soft pneumatic actuators are one of the most commonly used actuation systems in soft robotics. However, control of a highly c
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures, and pneumatic actuators have been widely used in soft mobile robots. In spite of their advantages, existing pneumatic actuators have limit
Many of the tasks that require a high level of autonomy in complex and dangerous situations are still done by human operators with a high risk of accidents. Although various remotely controlled robot systems have been proposed, the remote operation has limitations in performance and efficiency compa
Soft artificial skin sensors that can detect contact forces as well as their locations are attractive in various soft robotics applications. However, soft sensors made of polymer materials have inherent limitations of hysteresis and nonlinearity in response, which makes it highly difficult to implem…