Research
Research
Research
Research
39,379+ open-access research outputs.
This paper presents the Marinarium, a modular and stand-alone underwater research facility designed to provide a realistic testbed for maritime and space-analog robotic experimentation in a resource-e…
Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable ob…
Beamforming in multiple-input multiple-output (MIMO) systems should take interference mitigation into account. However, for beamform design, accurate channel state information (CSI) is needed, which i…
The specification of the action space plays a pivotal role in imitation-based robotic manipulation policy learning, fundamentally shaping the optimization landscape of policy learning. While recent ad…
Tuning active prostheses for people with amputation is time-consuming and relies on metrics that may not fully reflect user needs. We introduce a human-in-the-loop optimization (HILO) approach that le…
This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have recently become the main…
Micro-milling spindles require high rotational speeds where conventional rolling element bearings face limitations such as friction and thermal expansion. Active magnetic bearings (AMBs) address these…
Robotics is undergoing a significant transformation powered by advances in high-level control techniques based on machine learning, giving rise to the field of robot learning. Recent progress in robot…
Diffusion models have become a popular choice for decision-making tasks in robotics, and more recently, are also being considered for solving autonomous driving tasks. However, their applications and …
Emerging applications such as autonomous driving and industrial automation demand ultra-reliable and low-latency communication (URLLC), where maintaining fresh and timely information is critical. A ke…
To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work fo…
Deep learning (DL)-based joint source-channel coding (JSCC) methods have achieved remarkable success in wireless image transmission. However, these methods either focus on conventional distortion metr…
This paper proposes HyperKKL, a novel learning approach for designing Kazantzis-Kravaris/Luenberger (KKL) observers for non-autonomous nonlinear systems. While KKL observers offer a rigorous theoretic…
[18F]FDG-PET/CT is a cornerstone imaging modality for tumor staging and treatment response assessment across many cancer types, yet expert reader shortages necessitate more efficient diagnostic aids. …
Cone-beam computed tomography (CBCT) is widely used in dental and maxillofacial imaging, but low-dose acquisition introduces strong, spatially varying noise that degrades soft-tissue visibility and ob…
Policy steering is an emerging way to adapt robot behaviors at deployment-time: a learned verifier analyzes low-level action samples proposed by a pre-trained policy (e.g., diffusion policy) and selec…
Egocentric human videos provide a scalable source of manipulation demonstrations; however, deploying them on robots requires active viewpoint control to maintain task-critical visibility, which human …
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, tr…
Autonomous mobile service robots, like lawnmowers or cleaning robots, operating in human-populated environments need to reason about local human-human interactions to support safe and socially aware n…
We present Lumosaic, a compact active hyperspectral video system designed for real-time capture of dynamic scenes. Our approach combines a narrowband LED array with a coded-exposure-pixel (CEP) camera…
Free open-access publishing with Google Scholar indexing.
Submission Guide →