Research
Research
Research
Research
39,379+ open-access research outputs.
Distilling humanoid locomotion control from offline datasets into deployable policies remains a challenge, as existing methods rely on privileged full-body states that require complex and often unreli…
Precision assembly requires sub-millimeter corrections in contact-rich "last-millimeter" regions where visual feedback fails due to occlusion from the end-effector and workpiece. We present ReTac-ACT …
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-to…
Vision-Language-Action (VLA) models are formulated to ground instructions in visual context and generate action sequences for robotic manipulation. Despite recent progress, VLA models still face chall…
Vision Language Models (VLMs) bridge visual perception and linguistic reasoning. In Autonomous Driving (AD), this synergy has enabled Vision Language Action (VLA) models, which translate high-level mu…
Efficiently training quadruped robot navigation in densely cluttered environments remains a significant challenge. Existing methods are either limited by a lack of safety and agility in simple obstacl…
Deploying Vision-Language-Action (VLA) models in real-world robotics exposes a core multi-task learning challenge: reconciling task interference in multi-task robotic learning. When multiple tasks are…
Multi-objective reinforcement learning (MORL) is a powerful tool to learn Pareto-optimal policy families across conflicting objectives. However, unlike traditional RL algorithms, existing MORL algorit…
Large scale, diverse demonstration data for manipulation tasks remains a major challenge in learning-based robot policies. Existing in-the-wild data collection approaches often rely on vision-based po…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamic…
Emotions play a central role in human communication, shaping trust, engagement, and social interaction. As artificial intelligence systems powered by large language models become increasingly integrat…
Local wind conditions strongly influence drone performance: headwinds increase flight time, crosswinds and wind shear hinder agility in cluttered spaces, while tailwinds reduce travel time. Although a…
Macroscopic traffic flow is stochastic, but the physics-informed deep learning methods currently used in transportation literature embed deterministic PDEs and produce point-valued outputs; the stocha…
Achieving versatile and naturalistic whole-body control for humanoid robot scene-interaction remains a significant challenge. While some recent works have demonstrated autonomous humanoid interactive …
Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable path planning in compl…
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current mult…
While Vision-Language-Action (VLA) models have demonstrated promising generalization capabilities in robotic manipulation, deploying them on specific and complex downstream tasks still demands effecti…
Positron emission tomography (PET) scans expose patients to radiation, which can be mitigated by reducing the dose, albeit at the cost of diminished quality. This makes low-dose (LD) PET recovery an a…
Accurate estimation of the tire-road friction coefficient (TRFC) is critical for ensuring safe vehicle control, especially under adverse road conditions. However, most existing methods rely on natural…
Learning from demonstrations has emerged as a promising paradigm for end-to-end robot control, particularly when scaled to diverse and large datasets. However, the quality of demonstration data, often…
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