Research
Research
Research
Research
39,379+ open-access research outputs.
Vision Language Action (VLA) models close the perception action loop by translating multimodal instructions into executable behaviors, but this very capability magnifies safety risks: jailbreaks that …
Imitation learning has emerged as an effective approach for bootstrapping sequential decision-making in robotics, achieving strong performance even in high-dimensional dexterous manipulation tasks. Re…
Non-prehensile manipulation using onboard sensing presents a fundamental challenge: the manipulated object occludes the sensor's field of view, creating occluded regions that can lead to collisions. W…
Decoding the human brain from electroencephalography (EEG) signals holds promise for understanding neurological activities. However, EEG data exhibit heterogeneity across subjects and sessions, limiti…
Despite rapid progress, embodied agents still struggle with long-horizon manipulation that requires maintaining spatial consistency, causal dependencies, and goal constraints. A key limitation of exis…
Current deep learning models for Multispectral and Hyperspectral Image Fusion (MS/HS fusion) are typically designed for fixed spectral bands and spatial scales, which limits their transferability acro…
The Sterile Processing and Distribution (SPD) department is responsible for cleaning, disinfecting, inspecting, and assembling surgical instruments between surgeries. Manual inspection and preparation…
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or lat…
Achieving reliable and efficient planning in complex driving environments requires a model that can reason over the scene's geometry, appearance, and dynamics. We present UniDWM, a unified driving wor…
This paper proposes a novel hybrid control framework for switched linear parameter-varying (LPV) systems under hysteresis switching logic. By introducing a controller state-reset mechanism, the hybrid…
Ultrasound is the most widely used medical imaging modality, yet the images it produces are fundamentally unique, arising from tissue-dependent scattering, reflection, and speed-of-sound variations th…
Deep Reinforcement Learning (DRL), a subset of machine learning focused on sequential decision-making, has emerged as a powerful approach for tackling financial trading problems. In finance, DRL is co…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-…
Electric vehicle (EV) charging infrastructure introduces complex challenges to urban distribution networks, particularly under extreme demand events. A critical barrier to resilience assessment is the…
Audio Foundation Models (AFMs), a specialized category of Generative AI (GenAI), have the potential to transform signal processing (SP) education by integrating core applications such as speech and au…
Unmanned Aerial Vehicle (UAV) swarms offer versatile applications in logistics, agriculture, and surveillance, yet controlling them requires expert knowledge for safety and feasibility. Traditional st…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated w…
Force sensing is essential for dexterous robot manipulation, but scaling force-aware policy learning is hindered by the heterogeneity of tactile sensors. Differences in sensing principles (e.g., optic…
Diffusion-based visuomotor policies excel at modeling action distributions but are inference-inefficient, since recursively denoising from noise to policy requires many steps and heavy UNet backbones,…
Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators to anticipate under …
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