Research
Research
Research
Research
39,379+ open-access research outputs.
In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can res…
This paper first demonstrates that applying standard incremental nonlinear dynamic inversion (INDI) with incremental control allocation (ICA) to input nonaffine systems relies on an untenable linear a…
Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industrial tasks under coll…
Electric vertical takeoff and landing (eVTOL) aircraft operating in high-density urban airspace must maintain safe separation through tactical conflict resolution, yet the energy cost of such maneuver…
Robotic imitation learning faces a fundamental trade-off between modeling long-horizon dependencies and enabling fine-grained closed-loop control. Existing fixed-frequency action chunking approaches s…
Safety-critical control of uncertain, adaptive systems often relies on conservative, worst-case uncertainty bounds that limit closed-loop performance. Online conformal prediction is a powerful data-dr…
Learning contact-rich manipulation is difficult from cameras and proprioception alone because contact events are only partially observed. We test whether training-time instrumentation, i.e., object se…
Parameter estimation for dynamical systems remains challenging due to non-convexity and sensitivity to initial parameter guesses. Recent deep learning approaches enable accurate and fast parameter est…
Recent advances in Artificial Intelligence (AI) and the exploration of noninvasive, objective biomarkers, such as speech signals, have encouraged the development of algorithms to support the early dia…
Bimanual manipulation, i.e., the coordinated use of two robotic arms to complete tasks, is essential for achieving human-level dexterity in robotics. Recent simulation benchmarks, e.g., RoboTwin and R…
Precise aggressive maneuvers with lightweight onboard sensors remains a key bottleneck in fully exploiting the maneuverability of drones. Such maneuvers are critical for expanding the systems' accessi…
This paper proposes a method for constructing one-step prediction tubes for nonlinear systems using reproducing kernel Hilbert spaces. We approximate a bounded reproducing kernel Hilbert space (RKHS) …
This chapter presents a novel approach to brain-to-speech (BTS) synthesis from intracranial electroencephalography (iEEG) data, emphasizing prosody-aware feature engineering and advanced transformer-b…
Data-driven models for building thermal dynamics are a scalable approach for enabling energy-efficient operation through fault detection & diagnosis or advanced control. To obtain accurate models, mea…
Achieving robot transparency is a critical step toward effective human-robot collaboration. To be transparent, a robot's natural language communication must be consistent with its actions and explicit…
Vision-Language-Action (VLA) models have achieved remarkable success in robotic manipulation. However, their robustness to linguistic nuances remains a critical, under-explored safety concern, posing …
This work introduces a modular platform that brings together six AI services, automatic speech recognition via OpenAI Whisper, multilingual translation through Meta NLLB, speech synthesis using AWS Po…
We present an empirical case study of cinema SDR-to-HDR mapping using ASC StEM2, a rare common-source dataset containing EXR scene-referred images and matched SDR/HDR cinema release masters from the s…
We propose a multimodal deep learning model for VR auralization that generates spatial room impulse responses (SRIRs) in real time to reconstruct scene-specific auditory perception. Employing SRIRs as…
This paper addresses a fundamental problem of visuomotor policy learning for robotic manipulation: how to enhance robustness in out-of-distribution execution errors or dynamically re-routing trajector…
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