Research
Research
Research
Research
39,379+ open-access research outputs.
We present Planning as Descent (PaD), a framework for offline goal-conditioned reinforcement learning that grounds trajectory synthesis in verification. Instead of learning a policy or explicit planne…
Recent advancements in robotic rehabilitation therapy have provided modular exercise systems for post-stroke muscle recovery with basic control schemes. But these systems struggle to adapt to patients…
Accurate estimation of subsurface material properties, such as soil moisture, is critical for wildfire risk assessment and precision agriculture. Ground-penetrating radar (GPR) is a non-destructive ge…
Flash flood warnings are largely reactive, providing limited advance notice for evacuation planning and resource prepositioning. This study presents and validates an anticipatory, parametric framework…
Large-scale supervised pretraining is rapidly reshaping 3D medical image segmentation. However, existing efforts focus primarily on increasing dataset size and overlook the question of whether the bac…
Perception of deformable linear objects (DLOs), such as cables, ropes, and wires, is the cornerstone for successful downstream manipulation. Although vision-based methods have been extensively explore…
Aim: This study investigates treatment response prediction to neoadjuvant chemotherapy (NACT) in breast cancer patients, using longitudinal contrast-enhanced magnetic resonance images (CE-MRI) and cli…
This paper proposes a sampling-based motion planner that employs a dual quaternion representation to generate smooth, collision-free six-degree-of-freedom pose trajectories for satellite rendezvous an…
In Human-Robot Collaboration, safety mechanisms such as Speed and Separation Monitoring and Power and Force Limitation dynamically adjust the robot's speed based on human proximity. While essential fo…
Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object interactions, which makes …
Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety…
Autonomous aerial navigation in dense natural environments remains challenging due to limited visibility, thin and irregular obstacles, GNSS-denied operation, and frequent perceptual degradation. This…
Medical image classification is a critical task in healthcare, enabling accurate and timely diagnosis. However, deploying deep learning models on resource-constrained edge devices presents significant…
Reconstructing high-quality images from substantially undersampled k-space data for accelerated MRI presents a challenging ill-posed inverse problem. While supervised deep learning has revolutionized …
Optimal AP clustering and power allocation are critical in user-centric cell-free massive MIMO systems. Existing deep learning models lack flexibility to handle dynamic network configurations. Further…
Deep learning models for Electrocardiogram (ECG) analysis have achieved expert-level performance but remain vulnerable to adversarial attacks. However, applying Universal Adversarial Perturbations (UA…
Existing end-to-end autonomous driving methods typically rely on imitation learning (IL) but face a key challenge: the misalignment between open-loop training and closed-loop deployment. This misalign…
Modern autonomous navigation systems predominantly rely on lidar and depth cameras. However, a fundamental question remains: Can flying robots navigate in clutter using solely monocular RGB images? Gi…
Purpose: To provide a diverse, high-quality dataset of color fundus images (CFIs) with detailed artery-vein (A/V) segmentation annotations, supporting the development and evaluation of machine learnin…
Although large language models (LLMs) have recently become effective tools for language-conditioned control in embodied systems, instability, slow convergence, and hallucinated actions continue to lim…
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