Research
Research
Research
Research
39,379+ open-access research outputs.
Human behavior is among the most scalable sources of data for learning physical intelligence, yet how to effectively leverage it for dexterous manipulation remains unclear. While prior work demonstrat…
Visual loco-manipulation of arbitrary objects in the wild with humanoid robots requires accurate end-effector (EE) control and a generalizable understanding of the scene via visual inputs (e.g., RGB-D…
Learning to manipulate cloth is both a paradigmatic problem for robotic research and a problem of immediate relevance to a variety of applications ranging from assistive care to the service industry. …
Learning robust representations of 3D shapes from voxelized data is essential for advancing AI methods in biomedical imaging. However, most contemporary 3D computer vision approaches operate on point …
We present the RIS-VSign system, an active reconfigurable intelligent surface (RIS)-assisted multiple-input multiple-output orthogonal frequency division multiplexing (MIMO-OFDM) framework for vital s…
The scarcity of large-scale robotic data has motivated the repurposing of foundation models from other modalities for policy learning. In this work, we introduce PhysGen (Learning Physics from Pretrai…
Reliable fall recovery is critical for humanoids operating in cluttered environments. Unlike quadrupeds or wheeled robots, humanoids experience high-energy impacts, complex whole-body contact, and lar…
We present a framework to \emph{certify} Hamilton--Jacobi (HJ) reachability learned by reinforcement learning (RL). Building on a discounted initial time \emph{travel-cost} formulation that makes smal…
Collaborative transportation, where multiple robots collaboratively transport a payload, has garnered significant attention in recent years. While ensuring safe and high-performance inter-robot collab…
Skeletal muscle-based biohybrid actuators have proved to be a promising component in soft robotics, offering efficient movement. However, their intrinsic biological variability and nonlinearity pose s…
The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detec…
Hybrid received signal strength (RSS)-angle of arrival (AoA)-based positioning offers low-cost distance estimation and high-resolution angular measurements. Still, it comes at a cost of inherent nonli…
Speech emotion recognition (SER) has traditionally relied on categorical or dimensional labels. However, this technique is limited in representing both the diversity and interpretability of emotions. …
Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe information-theoretic…
Accurate, high-performance radio-frequency (RF) filter circuits are ubiquitous in radio-frequency communication and sensing systems for accepting and rejecting signals at desired frequencies. Conventi…
Discovering the unknown governing equations of grid-connected inverters from external measurements holds significant attraction for analyzing modern inverter-intensive power systems. However, existing…
The reliability and quality of 3D printing processes are critically dependent on the timely detection of mechanical faults. Traditional monitoring methods often rely on visual inspection and hardware …
This paper introduces a novel, open-source MARL simulation framework for studying implicit cooperation in LEMs, modeled as a decentralized partially observable Markov decision process and implemented …
This paper proposes implicit cooperation, a framework enabling decentralized agents to approximate optimal coordination in local energy markets without explicit peer-to-peer communication. We formulat…
This paper presents an autonomous control framework for articulated boom cranes performing prefabricated block assembly in construction environments. The key challenge addressed is precise placement c…
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