Research
Research
Research
Research
39,379+ open-access research outputs.
This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide formal safety guarantees,…
Recent advances in learned video compression (LVC) have led to significant performance gains, with codecs such as DCVC-RT surpassing the H.266/VVC low-delay mode in compression efficiency. However, ex…
The Dynamic Targeting (DT) mission concept is an approach to satellite observation in which a lookahead sensor gathers information about the upcoming environment and uses this information to intellige…
Automated quality assessment of structural brain MRI is an important prerequisite for reliable neuroimaging analysis, but yet remains challenging due to motion artifacts and poor generalization across…
Humans train robots to complete tasks in one environment, and expect robots to perform those same tasks in new environments. As humans, we know which aspects of the environment (i.e., the state) are r…
Predicting the output of a dynamical system from streaming data is fundamental to real-time feedback control and decision-making. We first derive an autoregressive representation that relates future l…
Reconfigurable intelligent surfaces (RISs) enable programmable control of wireless propagation. Beyond environmental deployments, integrating metasurfaces at the antenna front end allows direct manipu…
Scaling imitation learning is fundamentally constrained by the efficiency of data collection. While handheld interfaces have emerged as a scalable solution for in-the-wild data acquisition, they predo…
Contact-rich micromanipulation in microfluidic flow is challenging because small disturbances can break pushing contact and induce large lateral drift. We study planar cell pushing with a magnetic rol…
Generalizing skill policies to novel conditions remains a key challenge in robot learning. Imitation learning methods, while data-efficient, are largely confined to the training region and consistentl…
This paper presents PRISM: an instruction-conditioned refinement method for imitation policies in robotic manipulation. This approach bridges Imitation Learning (IL) and Reinforcement Learning (RL) fr…
The deployment of humanoid robots for dexterous manipulation in unstructured environments remains challenging due to perceptual limitations that constrain the effective workspace. In scenarios where p…
Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the shape, size, and wei…
Offline reinforcement learning (RL) allows robots to learn from offline datasets without risky exploration. Yet, offline RL's performance often hinges on a brittle trade-off between (1) return maximiz…
Arterial spin labeling (ASL) perfusion MRI allows direct quantification of regional cerebral blood flow (CBF) without exogenous contrast, enabling noninvasive measurements that can be repeated without…
Current keyword spotting systems primarily use phoneme-level matching to distinguish confusable words but ignore user-specific pronunciation traits like prosody (intonation, stress, rhythm). This pape…
As advancements in technologies like Internet of Things (IoT), Automatic Speech Recognition (ASR), Speaker Verification (SV), and Text-to-Speech (TTS) lead to increased usage of intelligent voice assi…
Limited-angle computed tomography (LACT) reconstruction is an inverse problem with severe ill-posedness arising from missing projection angles, and it is difficult to restore high-precision images wit…
Traditional language-conditioned manipulation agent sequential adaptation to new manipulation skills leads to catastrophic forgetting of old skills, limiting dynamic scene practical deployment. In thi…
Imitation Learning (IL) enables robots to acquire manipulation skills from expert demonstrations. Diffusion Policy (DP) models multi-modal expert behaviors but suffers performance degradation as obser…
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