Research
Research
Research
Research
55+ open-access research outputs.
This paper documents a case study in agent-driven autonomous reinforcement learning research for quadruped locomotion. The setting was not a fully self-starting research system. A human provided high-…
Human voice encodes both identity and paralinguistic cues, yet encoders in large audio-language models (LALMs) rarely balance both aspects. In this work, we present a study toward building a general-p…
Speech-LLM models have demonstrated great performance in multi-modal and multi-task speech understanding. A typical speech-LLM paradigm is integrating speech modality with a large language model (LLM)…
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require…
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used t…
With the rapid development of deepfake technology, simply making a binary judgment of true or false on audio is no longer sufficient to meet practical needs. Accurately determining the specific deepfa…
This study offers a forensic assessment of a widely circulated photograph featuring Andrew Mountbatten-Windsor, Virginia Giuffre, and Ghislaine Maxwell, an image that has played a pivotal role in publ…
3D Cone-Beam CT (CBCT) is widely used in radiotherapy but suffers from motion artifacts due to breathing. A common clinical approach mitigates this by sorting projections into respiratory phases and r…
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple valid actions if the…
The android robot Andrea was set up at a public museum in Germany for six consecutive days to have conversations with visitors, fully autonomously. No specific context was given, so visitors could sta…
Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly p…
Since the seminal work of Andrey Kolmogorov in the early 1940's, imaging through atmospheric turbulence has grown from a pure scientific pursuit to an important subject across a multitude of civilian,…
This paper tackles the challenging robotic task of generalizable paper cutting using scissors. In this task, scissors attached to a robot arm are driven to accurately cut curves drawn on the paper, wh…
Current deep learning-based models typically analyze medical images in either 2D or 3D albeit disregarding volumetric information or suffering sub-optimal performance due to the anisotropic resolution…
Speech emotion recognition (SER) has gained significant attention due to its several application fields, such as mental health, education, and human-computer interaction. However, the accuracy of SER …
In response to the critical need for effective reconnaissance in disaster scenarios, this research article presents the design and implementation of a complete autonomous robot system using the Turtle…
This paper introduces and compares the various techniques for identification and analysis of low frequency oscillations in a power system. Inter-area electromechanical oscillations are the focus of th…
Multi-agent human-robot teaming allows for the potential to gather information about various environments more efficiently by exploiting and combining the strengths of humans and robots. In industries…
We study the problem of hanging a wide range of grasped objects on diverse supporting items. Hanging objects is a ubiquitous task that is encountered in numerous aspects of our everyday lives. However…
Recently, Zhuang, Roth, \& Sudhakar [1] proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera frame. Th…
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