Research
Research
Research
Research
39,379+ open-access research outputs.
Supervised contrastive learning (SupCon) is widely used to shape representations, but has seen limited targeted study for audio deepfake detection. Existing work typically combines contrastive terms w…
This paper presents a systematic verification and validation (V\&V) framework for the Evasive Minimum Risk Maneuver (EMRM) feature in autonomous vehicles, addressing a critical gap in existing safety …
Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER,…
Designing Doppler-resilient unimodular discrete phase-coded waveforms (DPWs) with low delay-Doppler sidelobes is critical for multiple-input multiple-output (MIMO) radar. Existing block coordinate des…
Recent advancements in large audio language models have extended Chain-of-Thought (CoT) reasoning into the auditory domain, enabling models to tackle increasingly complex acoustic and spoken tasks. To…
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controll…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a …
Reliable estimation of neuromuscular activation is a key enabler for adaptive and personalized control in wearable robotics. However, surface electromyography (EMG) remains difficult to deploy robustl…
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. However, how to shape th…
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potent…
Dexterous robot hands offer rich opportunities for multifunctional manipulation, where a robot must execute multiple skills in sequence while maintaining control over previously grasped objects. Most …
Intelligent Transportation Systems (ITS) increasingly rely on vision-based perception and learning-based control, necessitating experimental platforms that support realistic hardware-in-the-loop valid…
Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing app…
We introduce asRoBallet, to the best of our knowledge, the first successful deployment of reinforcement learning (RL) on a humanoid ballbot hardware. Historically, ballbots have served as a canonical …
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit a…
Vehicle-to-Grid (V2G) technology allows bidirectional power flow for real-time grid support, making electric vehicles (EVs) well-suited for ancillary services such as frequency regulation. However, ex…
Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their …
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. …
Visual reinforcement learning aims to empower an agent to learn policies from visual observations, yet it remains vulnerable to dynamic visual perturbations, such as unpredictable shifts in corruption…
Reverse parking maneuvering of a vehicle with trailer system is a difficult task to complete for human drivers due to the multi-body nature of the system and the unintuitive controls required to orien…
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