Research
Research
Research
Research
39,379+ open-access research outputs.
Humanoid robots, characterized by numerous degrees of freedom and a high center of gravity, are inherently unstable. Safe omnidirectional locomotion on stairs requires both omnidirectional terrain per…
This paper bridges some of the gap between optimal planning and reinforcement learning (RL), both of which share roots in dynamic programming applied to sequential decision making or optimal control. …
Aerial manipulation (AM) expands UAV capabilities beyond passive observation to contact-based operations at high altitudes and in otherwise inaccessible environments. Although recent advances show pro…
Robotic bin packing is widely deployed in warehouse automation, with current systems achieving robust performance through heuristic and learning-based strategies. These systems must balance compact pl…
This paper investigates whether a single, unified cost function can explain and predict human reaching movements, in contrast with existing approaches that rely on subject- or posture-specific optimiz…
For robots to navigate safely and efficiently on soft, granular terrains, it is crucial to gather information about the terrain's mechanical properties, which directly affect locomotion performance. R…
Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution, or contact conditio…
Audio-Visual Target Speaker Extraction (AVTSE) aims to separate a target speaker's voice from a mixed audio signal using the corresponding visual cues. While most existing AVTSE methods rely exclusive…
Understanding spatial affordances -- comprising the contact regions of object interaction and the corresponding contact poses -- is essential for robots to effectively manipulate objects and accomplis…
Imitation learning has shown strong potential for automating complex robotic manipulation. In medical robotics, ultrasound-guided needle insertion demands precise bimanual coordination, as clinicians …
Recent advances in Visual-Language-Action (VLA) models have shown promising potential for robotic manipulation tasks. However, real-world robotic tasks often involve long-horizon, multi-step problem-s…
Pretrained Vision-Language-Action (VLA) policies have achieved strong single-step manipulation, but their inference remains largely memoryless, which is brittle in non-Markovian long-horizon settings …
Autonomous collision-free navigation in cluttered environments requires safe decision-making under partial observability with both static structure and dynamic obstacles. We present \textbf{PanoDP}, a…
Data-driven joint-moment predictors offer a scalable alternative to laboratory-based inverse-dynamics pipelines for biomechanics estimation and exoskeleton control. Meanwhile, physics-based reinforcem…
The prevailing paradigm of perceptive humanoid locomotion relies heavily on active depth sensors. However, this depth-centric approach fundamentally discards the rich semantic and dense appearance cue…
Effective exoskeleton assistance requires co-adaptation: as the device alters joint dynamics, the user reorganizes neuromuscular coordination, creating a non-stationary learning problem. Most learning…
In contemporary autonomous driving testing, virtual simulation has become an important approach due to its efficiency and cost effectiveness. However, existing methods usually rely on reinforcement le…
Many previous works in spike sorting study spike classification and compression independently. In this paper, a novel algorithm is proposed called MetaSort to address these two problems. To deal with …
The increasing penetration of renewable energy necessitates unlocking demand-side flexibility. While air conditioning (AC) systems offer significant thermal inertia, existing physical and data-driven …
Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blu…
Free open-access publishing with Google Scholar indexing.
Submission Guide →