Research
Research
Research
Research
5,720+ open-access research outputs.
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
Nasotracheal intubation (NTI) is a critical clinical procedure for establishing and maintaining patient airway patency. Machine-assisted NTI has emerged as a pivotal approach for optimizing procedural…
Robotic manipulation critically requires reasoning about future spatial-temporal interactions, yet existing VLA policies and world-model-enhanced policies do not fully model action-relevant spatial-te…
Deploying a neuro-symbolic task planner on a new domain today requires significant manual effort: a domain expert must author relaxation and complementary rules, and hundreds of training problems must…
Navigating quadruped robots in unstructured 3D environments poses significant challenges, requiring goal-directed motion, effective exploration to escape from local minima, and posture adaptation to t…
Objective metrics for emotional expressiveness are vital for speech generation, particularly in expressive synthesis and voice conversion requiring emotional prosody transfer. To quantify this, the fi…
Localized features such as singularities, sharp gradients, discontinuities, and moving sources require adaptive finite element discretizations. Conventional refinement strategies introduce significant…
To enable larger apertures in multipleinput multipleoutput MIMO systems the trihybrid MIMO architecture offers a promising lowcost and lowpower solution by introducing reconfigurable antennas as a thi…
This paper develops a dynamic programming (DP) approach for decentralized stochastic optimal control problems with delayed sharing information patterns, which exhibits the fundamental Properties of cl…
Recent years have seen growing application potential for Lattice-skin Plate Structures in advanced manufacturing fields such as aerospace and automotive engineering. For multiscale performance evaluat…
AI is increasingly used to accelerate engineering design by improving decision-making and shortening iteration cycles. Application to marine propeller design, however, remains challenging due to scarc…
Maintaining instantaneous balance between electricity supply and demand is critical for reliability and grid instability. System operators achieve this through solving the task of Unit Commitment (UC)…
Speaker diarization (SD) is the task of answering "who spoke when" in a multi-speaker audio stream. Classically, an SD system clusters segments of speech belonging to an individual speaker's identity.…
Infrastructure-based localization enhances road safety and traffic management by providing state estimates of road users. Development is hindered by fragmented, application-specific stacks that tightl…
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety filters have proven e…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force mode…
While Central Pattern Generators (CPGs) and Multi-Layer Perceptrons (MLP) are widely used paradigms in robot control, few systematic studies have been performed on the relative merits of large paramet…
ReRAM-based in-memory computing (IMC) architectures are promising candidates for energy-efficient matrix-vector multiplication. While scaling the size of ReRAM arrays allows for the amortization of po…
We present a physics-driven framework for accurate evaluation of discrete spectral bands using a low-cost multispectral setup built from off-the-shelf RGB cameras and narrow multi-band optical filters…
Recent advances in Text-To-Speech (TTS) synthesis have seen the popularity of multi-stage approaches that first predict semantic tokens and then generate acoustic tokens. In this paper, we extend the …
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