Research
Research
Research
Research
39,379+ open-access research outputs.
Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy-efficiency on smooth terrain and agility over…
Automating the assembly of wire harnesses is challenging in automotive, electrical cabinet, and aircraft production, particularly due to deformable cables and a high variance in connector geometries. …
Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabilize contact under unce…
Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a …
Low-resource automatic speech recognition (ASR) continues to pose significant challenges, primarily due to the limited availability of transcribed data for numerous languages. While a wealth of spoken…
In humans and robots alike, transfer learning occurs at different levels of abstraction, from high-level linguistic transfer to low-level transfer of motor skills. In this article, we provide an overv…
This paper presents an aggressiveness-aware control framework for quadrotor UAVs that integrates learning-based oracles to mitigate the effects of unknown disturbances. Starting from a nominal trackin…
Always-on keyword spotting (KWS) demands on-device adaptation to cope with user- and environment-specific distribution shifts under tight latency and energy budgets. This paper proposes, for the first…
Reinforcement learning for traffic signal control is bottlenecked by simulators: training in SUMO takes hours, reproducing results often requires days of platform-specific setup, and the slow iteratio…
This article concerns comparative studies on the Automatic Speech Recognition (ASR) model incorporated with the Large Language Model (LLM) used for medical interviews. The proposed solution is tested …
Precise shape control of Deformable Linear Objects (DLOs) is crucial in robotic applications such as industrial and medical fields. However, existing methods face challenges in handling complex large …
Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) base…
Specular reflections pose a significant challenge for object segmentation, as their sharp intensity transitions often mislead both conventional algorithms and deep learning based methods. However, as …
This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is…
Learning based methods are now ubiquitous for solving inverse problems, but their deployment in real-world applications is often hindered by the lack of ground truth references for training. Recent se…
Despite progress, Vision-Language-Action models (VLAs) are limited by a scarcity of large-scale, diverse robot data. While human manipulation videos offer a rich alternative, existing methods are forc…
A common approach to compute distances on continuous surfaces is by considering a discretized polygonal mesh approximating the surface and estimating distances on the polygon. We show that exact geode…
Humanoid robots that autonomously interact with physical environments over extended horizons represent a central goal of embodied intelligence. Existing approaches rely on reference motions or task-sp…
The growing integration of distributed photovoltaics (PVs) into active distribution networks (ADNs) has exacerbated operational challenges, making it imperative to coordinate diverse equipment to miti…
State-of-the-art learned reconstruction methods often rely on black-box modules that, despite their strong performance, raise questions about their interpretability and robustness. Here, we build on a…
Free open-access publishing with Google Scholar indexing.
Submission Guide →