Research
Research
Research
Research
39,379+ open-access research outputs.
Deep learning (DL) has enabled impressive advances in robotic perception, yet its limited robustness and lack of interpretability hinder reliable deployment in safety critical applications. We propose…
Digital twins promise to enhance robotic manipulation by maintaining a consistent link between real-world perception and simulation. However, most existing systems struggle with the lack of a unified …
Analyzing and controlling system entropy is a powerful tool for regulating predictability of control systems. Applications benefiting from such approaches range from reinforcement learning and data se…
Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, thi…
In-line digital holography (DIH) is a widely used lensless imaging technique, valued for its simplicity and capability to image samples at high throughput. However, capturing only intensity of the int…
Uncertainties arising from localization error, trajectory prediction errors of the moving obstacles and environmental disturbances pose significant challenges to robot's safe navigation. Existing unce…
Imitation learning from human demonstrations has achieved significant success in robotic control, yet most visuomotor policies still condition on single-step observations or short-context histories, m…
The explosive growth of the low-altitude economy, driven by eVTOLs and UAVs, demands a unified digital infrastructure to ensure safety and scalability. However, the current aviation vertical reference…
3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose f…
Vision-based imitation learning has shown promise for robotic manipulation; however, its generalization remains limited in practical agricultural tasks. This limitation stems from scarce demonstration…
Magnetically actuated fish-like robots offer promising solutions for underwater exploration due to their miniaturization and agility; however, precise control remains a significant challenge because o…
Channel prediction has emerged as an effective solution for acquiring accurate channel state information (CSI) in the presense of channel aging. Existing methods have inherent limitations, with conven…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective o…
Python bindings are a critical bridge between high-performance C++ libraries and the flexibility of Python, enabling rapid prototyping, reproducible experiments, and integration with simulation and le…
This paper presents a novel approach to multi-robot collision avoidance that integrates global path planning with local navigation strategies, utilizing attentive graph neural networks to manage dynam…
Inter-scanner variability of magnetic resonance imaging has an adverse impact on the diagnostic and prognostic quality of the scans and necessitates the development of models robust to domain shift in…
Accurate and safety-conscious trajectory prediction is a key technology for intelligent transportation systems, especially in V2X-enabled urban environments with complex multi-agent interactions. In t…
Robust waypoint prediction is crucial for mobile robots operating in open-world, safety-critical settings. While Imitation Learning (IL) methods have demonstrated great success in practice, they are s…
For robots to successfully transition from lab settings to everyday environments, they must begin to reason about the risks associated with their actions and make informed, risk-aware decisions. This …
Tactile dexterous manipulation is essential to automating complex household tasks, yet learning effective control policies remains a challenge. While recent work has relied on imitation learning, obta…
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