This technical description details the design and engineering process of a semi-autonomous robotic partition. This robotic partition prototype was subsequently employed in a longer-term evaluation in-the-wild study conducted by the authors in a real-world office setting.
The paper offers general technical facts on the kinematics of a moving continuum involved in research on robotic following of flexible extended objects.
Manifesting Architectural Subspaces with Two Mobile Robotic Partitions to Facilitate Spontaneous Office Meetings
Research[x]Design, Dept. of Architecture, KU Leuven（研究[x]设计，建筑系，鲁汶大学）；Centre for Environment and Health - Dept. of Public Health and Primary Care, KU Leuven（环境与健康中心——公共卫生与初级保健系，鲁汶大学）
Technion – Israel Institute of Technology（以色列理工学院）
In this paper we describe Robofriend, a robotic teddy bear for telling stories to young children. Robofriend adapts its behavior to keep the childrens' attention using reinforcement learning.
The Adaptive Architectural Layout: How the Control of a Semi-Autonomous Mobile Robotic Partition was Shared to Mediate the Environmental Demands and Resources of an Open-Plan Office
Bielefeld University（比勒费尔德大学）；Honda Research Institute Europe（本田欧洲研究院）
Research in social robotics is commonly focused on designing robots that imitate human behavior. While this might increase a user's satisfaction and acceptance of robots at first glance, it does not automatically aid a non-expert user in naturally interacting with robots, and might actually hurt their ability to correctly anticipate a robot's capabilities. We argue that a faulty mental model, that the user has of the robot, is one of the main sources of confusion. In this work we investigate how communicating technical concepts of robotic systems to users affects their mental models, and how t…
With the increasing ubiquity of autonomous robotic solutions, the interest in their connectivity and in the cooperation within multi-robot systems is rising. Two aspects that are a matter of current research are robot security and secure multi-robot collaboration robust to byzantine agents. Blockchain and other distributed ledger technologies (DLTs) have been proposed to address the challenges in both domains. Nonetheless, some key challenges include scalability and deployment within real-world networks. This paper presents an approach to integrating IOTA and ROS 2 for more scalable DLT-based …
University of California, Merced（加州大学默塞德分校）；National Institute of Standards and Technology (NIST)（美国国家标准与技术研究院）
This technical report presents an introduction to different aspects of multi-fingered robot grasping. After having introduced relevant mathematical background for modeling, form and force closure are discussed. Next, we present an overview of various grasp planning algorithms with the objective of illustrating different approaches to solve this problem. Finally, we discuss grasp performance benchmarking.
Technical Report for ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge: Leveraging DINOv3 for Robust Outdoor Scene Understanding in Field Robotics
Daegu Gyeongbuk Institute of Science and Technology (DGIST)（大邱庆北科学技术院）；Massachusetts Institute of Technology (MIT)（麻省理工学院）
IHP – Leibniz-Institut für innovative Mikroelektronik（IHP – 莱布尼茨创新微电子研究所）；BTU Cottbus-Senftenberg（科特布斯-森夫滕贝格勃兰登堡工业大学）；Okinawa Institute of Science and Technology Graduate University (OIST)（冲绳科学技术大学院大学）
Octopus is an invertebrate belonging to the class of Cephalopoda. The body of an Octopus lacks any morphological joints and rigid parts. Their arms, skin and the complex nervous system are investigated by a several researchers all over the world. Octopuses are the object of inspiration for my scientists in different areas, including AI. Soft- and hardware are developed based on octopus features. Soft-robotics octopus-inspired arms are the most common type of developments. There are a lot of different variants of this solution, each of them is different from the other. In this paper, we describ…
In contrast to manned missions, the application of autonomous robots for space exploration missions decreases the safety concerns of the exploration missions while extending the exploration distance since returning transportation is not necessary for robotics missions. In addition, the employment of robots in these missions also decreases mission complexities and costs because there is no need for onboard life support systems: robots can withstand and operate in harsh conditions, for instance, extreme temperature, pressure, and radiation, where humans cannot survive. In this article, we introd…
University of Aberdeen（阿伯丁大学）；University of Uyo（乌约大学）
With the rising applications of robots in unstructured real-world environments, roboticists are increasingly concerned with the problems posed by the complexity of such environments. One solution to these problems is robot autonomy. Since nature has already solved the problem of autonomy it can be a suitable model for developing autonomous robots. This paper presents a concise review on robot autonomy from the perspective of animal behaviour. It examines some state-of-the-art techniques as well as suggesting possible research directions.
This technical report details VEX Robotics team BLRSAI's development of a fully autonomous robot for VEX Robotics' Tipping Point AI Competition. We identify and develop three separate critical components. This includes a Unity simulation and reinforcement learning model training pipeline, a malleable computer vision pipeline, and a data transfer pipeline to offload large computations from the VEX V5 Brain/micro-controller to an external computer. We give the community access to all of these components in hopes they can reuse and improve upon them in the future, and that it'll spark new ideas f…
The purpose of this technical report is two-fold. First of all, it introduces a suite of challenging continuous control tasks (integrated with OpenAI Gym) based on currently existing robotics hardware. The tasks include pushing, sliding and pick & place with a Fetch robotic arm as well as in-hand object manipulation with a Shadow Dexterous Hand. All tasks have sparse binary rewards and follow a Multi-Goal Reinforcement Learning (RL) framework in which an agent is told what to do using an additional input. The second part of the paper presents a set of concrete research ideas for improving RL a…
DEVCOM Army Research Laboratory（美国陆军作战能力发展司令部陆军研究实验室）；Viterbi School of Engineering, University of Southern California（南加州大学维特比工程学院）；NASA Jet Propulsion Laboratory（美国国家航空航天局喷气推进实验室）
Experimental design in field robotics is an adaptive human-in-the-loop decision-making process in which an experimenter learns about system performance and limitations through interactions with a robot in the form of constructed experiments. This can be challenging because of system complexity, the need to operate in unstructured environments, and the competing objectives of maximizing information gain while simultaneously minimizing experimental costs. Based on the successes in other domains, we propose the use of a Decision Support System (DSS) to amplify the human's decision-making abilitie…
Robotics Institute, School of Computer Science, Carnegie Mellon University（卡内基梅隆大学计算机科学学院机器人研究所）
Robotic swarms are decentralized multi-robot systems whose members use local information from proximal neighbors to execute simple reactive control laws that result in emergent collective behaviors. In contrast, members of a general multi-robot system may have access to global information, all- to-all communication or sophisticated deliberative collabora- tion. Some algorithms in the literature are applicable to robotic swarms. Others require the extra complexity of general multi- robot systems. Given an application domain, a system designer or supervisory operator must choose an appropriate s…
This paper reports on the development, execution, and open-sourcing of a new robotics course at MIT. The course is a modern take on "Visual Navigation for Autonomous Vehicles" (VNAV) and targets first-year graduate students and senior undergraduates with prior exposure to robotics. VNAV has the goal of preparing the students to perform research in robotics and vision-based navigation, with emphasis on drones and self-driving cars. The course spans the entire autonomous navigation pipeline; as such, it covers a broad set of topics, including geometric control and trajectory optimization, 2D and…
State Key Laboratory of High Performance Computing (HPCL)（高性能计算国家重点实验室）；School of Computer, National University of Defense Technology（国防科技大学计算机学院）
Recent years have witnessed the prosperity of robots and in order to support consensus and cooperation for multi-robot system, wireless communications and networking among robots and the infrastructure have become indispensable. In this technical note, we first provide an overview of the research contributions on communication-aware motion planning (CAMP) in designing wireless-connected robotic networks (WCRNs), where the degree-of-freedom (DoF) provided by motion and communication capabilities embraced by the robots have not been fully exploited. Therefore, we propose the framework of joint c…
King’s College London（伦敦国王学院）；Xtronics Ltd.（Xtronics有限公司）；Guy’s & St Thomas’ NHS Foundation Trust（盖伊和圣托马斯NHS基金会信托）；Evelina Children’s Hospital（伊芙琳娜儿童医院）；Queen Mary University of London（伦敦玛丽女王大学）
The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system …
QUT Centre for Robotics, Queensland University of Technology（昆士兰科技大学机器人中心）；George St, Brisbane, QLD 4001, Australia（澳大利亚布里斯班 QLD 4001 地址）；School of Natural Sciences, Macquarie University（麦考瑞大学自然科学学院）；Fondazione Istituto Italiano Di Tecnologia (Italian Institute of Technology), Genova, Italy（意大利技术研究院（意大利理工学院））；Smart Robotics（智能机器人技术）
The reproducibility crisis in scientific computing constrains robotics research. Existing studies reveal that up to 70% of robotics algorithms cannot be reproduced by independent teams, while many others fail to reach deployment because creating shareable software environments remains prohibitively complex. These challenges stem from fragmented, multi-language, and hardware-software toolchains that lead to dependency hell. We present Pixi, a unified package-management framework that addresses these issues by capturing exact dependency states in project-level lockfiles, ensuring bit-for-bit rep…
CNRS（法国国家科学研究中心）；Université Joseph Fourier（约瑟夫·傅里叶大学）；Faculté de Médecine（医学院）；Laboratoire TIMC（TIMC实验室）
The author reviews the computer and robotic tools available to urologists to help in diagnosis and technical procedures. The first part concerns the contribution of robotics and presents several systems at various stages of development (laboratory prototypes, systems under validation or marketed systems). The second part describes image fusion tools and navigation systems currently under development or evaluation. Several studies on computerized simulation of urological procedures are also presented.
Robotic Ultrasound Imaging: State-of-the-Art and Future Perspectives
Technische Universität München（慕尼黑工业大学）；Technical University of Munich（慕尼黑工业大学）；University of British Columbia（不列颠哥伦比亚大学）；Johns Hopkins University（约翰斯·霍普金斯大学）
The Johns Hopkins University（约翰斯·霍普金斯大学）；The University of Pennsylvania（宾夕法尼亚大学）；Texas A&M University（德克萨斯农工大学）；Massachusetts Institute of Technology（麻省理工学院）
The recent coronavirus pandemic has highlighted the many challenges faced by the healthcare, public safety, and economic systems when confronted with a surge in patients that require intensive treatment and a population that must be quarantined or shelter in place. The most obvious and pressing challenge is taking care of acutely ill patients while managing spread of infection within the care facility, but this is just the tip of the iceberg if we consider what could be done to prepare in advance for future pandemics. Beyond the obvious need for strengthening medical knowledge and preparedness…
A Framework for Closed-Loop Robotic Assembly, Alignment and Self-Recovery of Precision Optical Systems
Research Laboratory of Electronics, Massachusetts Institute of Technology（麻省理工学院电子研究实验室）；NSF Institute for Artificial Intelligence and Fundamental Interactions (IAIFI) and the Department of Physics, Massachusetts Institute of Technology（国家科学基金会人工智能与基本相互作用研究所（IAIFI）和麻省理工学院物理系）；Nokia Bell Labs（诺基亚贝尔实验室）；School of Electrical, Computing and Energy Engineering, Arizona State University（亚利桑那州立大学电气、计算与能源工程学院）
