Research
Research
Research
Research
39,379+ open-access research outputs.
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric tr…
High-speed legged locomotion struggles with stability and transfer losses at higher command velocities during deployment. One reason is that most curricula vary difficulty along single axis, for examp…
Diffusion-based trajectory planners can synthesize rich, multimodal action sequences for offline reinforcement learning, but their iterative denoising incurs substantial inference-time cost, making cl…
The increasing penetration of renewable generation and the growing variability of electrified demand introduce substantial operational uncertainty to modern power systems. Topology reconfiguration is …
Integrated Sensing and Communications (ISAC) has emerged as a key enabler for sixth generation (6G) wireless systems by jointly supporting data transmission and environmental awareness within a unifie…
The widespread adoption of electronic health records (EHRs) enables the acquisition of heterogeneous clinical data, spanning lab tests, vital signs, medications, and procedures, which offer transforma…
This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free motion and robot-env…
Vision-Language-Action (VLA) models have emerged as a powerful paradigm for robotic manipulation. However, existing post-training methods face a dilemma between stability and exploration: Supervised F…
Energy-aware algorithms for multi-robot systems require accurate power consumption models, yet existing approaches rely on kinematic approximations that fail to capture the complex dynamics of real ha…
Line following robots are fundamental platforms in robotics education, yet commercially available solutions remain prohibitively expensive ($150-300$) while lacking integrated obstacle detection capab…
Long-range navigation is commonly addressed through hierarchical pipelines in which a global planner generates a path, decomposed into waypoints, and followed sequentially by a local planner. These sy…
This study investigates the use of self-supervised learning embeddings, particularly BYOL-A, in conjunction with a deep neural network classifier for Music Genre Classification. Our experiments demons…
Terahertz (THz) communication can offer terabit-per-second rates in future wireless systems, thanks to the ultra-wide bandwidths, but require large antenna arrays. As antenna apertures expand and we e…
End-to-end autonomous driving is typically built upon imitation learning (IL), yet its performance is constrained by the quality of human demonstrations. To overcome this limitation, recent methods in…
Robotic manipulation in open-world environments requires reasoning across semantics, geometry, and long-horizon action dynamics. Existing hierarchical Vision-Language-Action (VLA) frameworks typically…
Robotic cloth untangling requires progressively disentangling fabric by adapting pulling actions to changing contact and tension conditions. Because large-scale real-world training is impractical due …
Vision-Language-Action (VLA) models have demonstrated strong potential for predicting semantic actions in navigation tasks, demonstrating the ability to reason over complex linguistic instructions and…
Imitation learning has demonstrated impressive results in robotic manipulation but fails under out-of-distribution (OOD) states. This limitation is particularly critical in Deformable Object Manipulat…
Diffusion-based models have recently shown strong performance in trajectory planning, as they are capable of capturing diverse, multimodal distributions of complex behaviors. A key limitation of these…
Humanoid loco-manipulation requires coordinated high-level motion plans with stable, low-level whole-body execution under complex robot-environment dynamics and long-horizon tasks. While diffusion pol…
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