Research
Research
Research
Research
39,379+ open-access research outputs.
Learning generalizable and robust behavior cloning policies requires large volumes of high-quality robotics data. While human demonstrations (e.g., through teleoperation) serve as the standard source …
Calibration of dynamic models to data is an important step in building building digital twins of HVAC equipment, thermal loads and control systems. Sometimes, when a model fails to calibrate to data, …
From a given pool of all feasible design variants, our aim is to identify a structure that achieves a target macroscopic stress response. For each candidate design, the response is obtained from a hig…
This paper proposes an adaptive tube framework for model predictive control (MPC) of discrete-time linear time-invariant systems subject to parametric uncertainty and additive disturbances. In contras…
This paper introduces Galactic Bioware's Life Support System, a semi-closed-circuit breathing apparatus designed for integration into a positive-pressure firefighting suit and governed by an AI contro…
Reinforcement learning in massively parallel physics simulations has driven major progress in sim-to-real robot learning. However, current approaches remain brittle and task-specific, relying on exten…
Autonomous driving requires safe planning, but most learning-based planners lack explicit self-correction ability: once an unsafe action is proposed, there is no mechanism to correct it. Thus, we prop…
Simulation-to-real transfer remains a central challenge in robotics, as mismatches between simulated and real-world dynamics often lead to failures. While reinforcement learning offers a principled me…
Accurate process supervision remains a critical challenge for long-horizon robotic manipulation. A primary bottleneck is that current video MLLMs, trained primarily under a Supervised Fine-Tuning (SFT…
Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is …
Learning motion policies from expert demonstrations is an essential paradigm in modern robotics. While end-to-end models aim for broad generalization, they require large datasets and computationally h…
Multi-agent reinforcement learning (MARL) commonly relies on a centralized critic to estimate the value function. However, learning such a critic from scratch is highly sample-inefficient and often la…
Dexterous grasping in multi-object scene constitutes a fundamental challenge in robotic manipulation. Current mainstream grasping datasets predominantly focus on single-object scenarios and predefined…
Social navigation requires robots to act safely in dynamic human environments. Effective behavior demands thinking ahead: reasoning about how the scene and pedestrians evolve under different robot act…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of user…
Inertial navigation using low-cost MEMS sensors is plagued by rapid drift due to sensor noise and bias instability. While recent data-driven approaches have made significant strides, they often strugg…
Multimodal deep learning has substantially improved electrocardiogram (ECG) classification by jointly leveraging time, frequency, and time-frequency representations. However, existing generative model…
The ability of robots to handle multiple tasks under a unified policy is critical for deploying embodied intelligence in real-world household and industrial applications. However, out-of-distribution …
Simulating realistic environments for robots is widely recognized as a critical challenge in robot learning, particularly in terms of rendering and physical simulation. This challenge becomes even mor…
End-to-end autonomous driving has gained significant attention for its potential to learn robust behavior in interactive scenarios and scale with data. Popular architectures often build on separate mo…
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