Research
Research
Research
Research
39,379+ open-access research outputs.
Through multi-agent competition and the sparse high-level objective of winning a race, we find that both agile flight (e.g., high-speed motion pushing the platform to its physical limits) and strategy…
Ensuring the safety of AI-enabled systems, particularly in high-stakes domains such as autonomous driving and healthcare, has become increasingly critical. Traditional formal verification tools fall s…
Whole-slide multiplex imaging of brain tissue generates massive information-dense images that are challenging to analyze and require custom software. We present an alternative query-driven programming…
Mobile robots are increasingly deployed in cluttered environments with movable objects, posing challenges for traditional methods that prohibit interaction. In such settings, the mobile robot must go …
In embodied intelligence, the embodiment gap between robotic and human hands brings significant challenges for learning from human demonstrations. Although some studies have attempted to bridge this g…
Motion planning for high-level autonomous driving is constrained by a fundamental trade-off between the transparent, yet brittle, nature of pipeline methods and the adaptive, yet opaque, "black-box" c…
Millimeter-wave (mmWave) radar provides robust sensing under adverse conditions and can penetrate thin materials for non-visual perception in industrial and robotic settings. Recent work with MIMO mmW…
The growing number of road users has significantly increased the risk of accidents in recent years. Vulnerable Road Users (VRUs) are particularly at risk, especially in urban environments where they a…
Millimeter-wave (mmWave) radar has emerged as a compact and powerful sensing modality for advanced perception tasks that leverage machine learning. It is particularly effective in scenarios where visi…
Reliable in silico molecular toxicity prediction is a cornerstone of modern drug discovery, offering a scalable alternative to experimental screening. However, the black-box nature of state-of-the-art…
Vision-Language-Action (VLA) models are driving a revolution in robotics, enabling machines to understand instructions and interact with the physical world. This field is exploding with new models and…
Multi-period portfolio optimization is important for real portfolio management, as it accounts for transaction costs, path-dependent risks, and the intertemporal structure of trading decisions that si…
The pursuit of out-of-distribution generalization in Vision-Language-Action (VLA) models is often hindered by catastrophic forgetting of the Vision-Language Model (VLM) backbone during fine-tuning. Wh…
Achieving precise positioning of the mobile manipulator's base is essential for successful manipulation actions that follow. Most of the RGB-based navigation systems only guarantee coarse, meter-level…
Humanoid robots require precise locomotion and dexterous manipulation to perform challenging loco-manipulation tasks. Yet existing approaches, modular or end-to-end, are deficient in manipulation-awar…
Human-level contact-rich manipulation relies on the distinct roles of two key modalities: vision provides spatially rich but temporally slow global context, while force sensing captures rapid, high-fr…
Autonomous drone navigation in confined tubular environments remains a major challenge due to the constraining geometry of the conduits, the proximity of the walls, and the perceptual limitations inhe…
Collecting robotic manipulation data is expensive, making it impractical to acquire demonstrations for the combinatorially large space of tasks that arise in multi-object, multi-robot, and multi-envir…
Frequency offsets-compensated least mean squares (FO-LMS) algorithm is a generic method for estimating a wireless channel under carrier and sampling frequency offsets when the transmitted signal is be…
Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in robotic manipulation,enabling robots to execute natural language commands through end-to-end learning from visual obser…
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