Research
Research
Research
Research
73+ open-access research outputs.
Decoding infant cry causes remains challenging for healthcare monitoring due to short nonstationary signals, limited annotations, and strong domain shifts across infants and datasets. We propose a com…
Industrial automation with six-axis robotic arms is critical for many manufacturing tasks, including welding and additive manufacturing applications; however, many of these operations are functionally…
Intercepting fast moving objects, by its very nature, is challenging because of its tight time constraints. This problem becomes further complicated in the presence of sensor noise because noisy senso…
Inspired by infant development, we propose a Reinforcement Learning (RL) framework for autonomous self-exploration in a robotic agent, Baby Sophia, using the BabyBench simulation environment. The agen…
Path planning in grid maps, arising from various applications, has garnered significant attention. Existing methods, such as A*, Dijkstra, and their variants, work well for small-scale maps but fail t…
Recent advances in soft robotic hands and tactile sensing have enabled both to perform an increasing number of complex tasks with the aid of machine learning. In particular, we presented the GelSight …
Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) of…
This paper presents a novel framework for automatically learning complete Stack-of-Tasks (SoT) controllers for redundant robotic systems, including task priorities, activation logic, and control param…
Recent advances in teleoperation have demonstrated robots performing complex manipulation tasks. However, existing works rarely support whole-body joint-level teleoperation for humanoid robots, limiti…
Typically, learned robot controllers are trained via relatively unsystematic regimens and evaluated with coarse-grained outcome measures such as average cumulative reward. The typical approach is usef…
The movements of both animals and robots give rise to streams of high-dimensional motor and sensory information. Imagine the brain of a newborn or the controller of a baby humanoid robot trying to mak…
The ABB YuMi is a 7-DOF collaborative robot arm with a complex, redundant kinematic structure. Path planning for the YuMi is challenging, especially with joint limits considered. The redundant degree …
Imitation learning (IL) and reinforcement learning (RL) each offer distinct advantages for robotics policy learning: IL provides stable learning from demonstrations, and RL promotes generalization thr…
The first WARA Robotics Mobile Manipulation Challenge, held in December 2024 at ABB Corporate Research in V\"aster{\aa}s, Sweden, addressed the automation of task-intensive and repetitive manual labor…
Robotic systems often face execution failures due to unexpected obstacles, sensor errors, or environmental changes. Traditional failure recovery methods rely on predefined strategies or human interven…
Recent advancements in Large Language Models (LLMs) and Visual Language Models (VLMs) have significantly impacted robotics, enabling high-level semantic motion planning applications. Reinforcement Lea…
Speech foundation models have demonstrated exceptional capabilities in speech-related tasks. Nevertheless, these models often struggle with non-verbal audio data, such as vocalizations, baby crying, e…
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design,…
Robotic arms are key components in fruit-harvesting robots. In agricultural settings, conventional serial or parallel robotic arms often fall short in meeting the demands for a large workspace, rapid …
Collaborative robots or cobots interact with humans in a common work environment. In cobots, one under investigated but important issue is related to their movement and how it is perceived by humans. …
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