Research
Research
Research
Research
177+ open-access research outputs.
Long-Horizon (LH) tasks in Human-Scene Interaction (HSI) are complex multi-step tasks that require continuous planning, sequential decision-making, and extended execution across domains to achieve the…
In this manuscript, we propose a novel optimal Global Navigation Satellite System (GNSS) time tracking algorithm to collectively steer an ensemble consisting of synchronising miniature atomic clocks t…
Existing Vision-Language Navigation (VLN) task requires agents to follow verbose instructions, ignoring some potentially useful global spatial priors, limiting their capability to reason about spatial…
Measurement of task progress through explicit, actionable milestones is critical for robust robotic manipulation. This progress awareness enables a model to ground its current task status, anticipate …
Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the large volume of perce…
The performance of speaker verification systems degrades significantly under language mismatch, a critical challenge exacerbated by the field's reliance on English-centric data. To address this, we pr…
Programming by demonstration is a strategy to simplify the robot programming process for non-experts via human demonstrations. However, its adoption for bimanual tasks is an underexplored problem due …
Traditional control interfaces for quadruped robots often impose a high barrier to entry, requiring specialized technical knowledge for effective operation. To address this, this paper presents a nove…
When tasking robots in partially observable environments, these robots must efficiently and robustly plan to achieve task goals under uncertainty. Although many probabilistic planning algorithms exist…
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedback. We present RATS…
Current visual navigation strategies mainly follow an exploration-first and then goal-directed navigation paradigm. This exploratory phase inevitably compromises the overall efficiency of navigation. …
As AI systems migrate to safety-critical domains, verifying that their actions comply with well-defined rules remains a challenge. Formal methods provide provable guarantees but demand hand-crafted te…
Automated monitoring of marine mammals in the St. Lawrence Estuary faces extreme challenges: calls span low-frequency moans to ultrasonic clicks, often overlap, and are embedded in variable anthropoge…
Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In…
Realizing high long-term task completion rates represents a fundamental challenge in battery-less Internet of Things (IoT) devices powered by ambient energy harvesting. This difficulty is primarily du…
The vision-based grasping brain network integrates visual perception with cognitive and motor processes for visuomotor tasks. While invasive recordings have successfully decoded localized neural activ…
High Electron Mobility Transistors (HEMTs) are most suitable for harsh environments as they operate reliably under extreme conditions such as high voltages, high temperatures, radiation exposure and c…
Autonomous multi-finger grasping is a fundamental capability in robotic manipulation. Optimization-based approaches show strong performance, but tend to be sensitive to initialization and are potentia…
Learning from long-horizon demonstrations with complex action sequences presents significant challenges for visual imitation learning, particularly in understanding temporal relationships of actions a…
Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently ali…
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