Research
Research
Research
Research
39,379+ open-access research outputs.
Humans naturally develop preferences for how manipulation tasks should be performed, which are often subtle, personal, and difficult to articulate. Although it is important for robots to account for t…
Real-world fine-tuning of dexterous manipulation policies remains challenging due to limited real-world interaction budgets and highly multimodal action distributions. Diffusion-based policies, while …
The accurate characterization of tire dynamics is critical for advancing control strategies in autonomous road vehicles, as tire behavior significantly influences handling and stability through the ge…
Skateboards offer a compact and efficient means of transportation as a type of personal mobility device. However, controlling them with legged robots poses several challenges for policy learning due t…
Robotic assistance in scientific laboratories requires procedurally correct long-horizon manipulation, reliable execution under limited supervision, and robustness in low-demonstration regimes. Such c…
Medical image analysis requires substantial labeled data for model training, yet expert annotation is expensive and time-consuming. Active learning (AL) addresses this challenge by strategically selec…
In robot-assisted minimally invasive surgery (RMIS), reduced haptic feedback and depth cues increase reliance on expert visual perception, motivating gaze-guided training and learning-based surgical p…
Accurate compensation of brain deformation is a critical challenge for reliable image-guided neurosurgery, as surgical manipulation and tumor resection induce tissue motion that misaligns preoperative…
With over 3.5 million 5G base stations deployed globally, their collective energy consumption (projected to exceed 131 TWh annually) raises significant concerns over both operational costs and environ…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation archi…
Reconfigurable intelligent surface (RIS) technology has the potential to significantly enhance the spectral efficiency (SE) of 6G wireless networks. However, practical deployment remains constrained b…
Electric vehicles (EVs) are increasingly deployed, yet range limitations remain a key barrier. Improving energy efficiency via advanced control is therefore essential, and emerging vehicle automation …
Localization is a key component of the wireless ecosystem. Machine learning (ML)-based localization using channel state information (CSI) is one of the most popular methods for achieving high-accuracy…
Despite strong generalization capabilities, Vision-Language-Action (VLA) models remain constrained by the high cost of expert demonstrations and insufficient real-world interaction. While online reinf…
The prevalent paradigm in robot learning attempts to generalize across environments, embodiments, and tasks with language prompts at runtime. A fundamental tension limits this approach: language is of…
Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing approaches largely rely…
We present \texttt{ZUNA}, a 380M-parameter masked diffusion autoencoder trained to perform masked channel infilling and superresolution for arbitrary electrode numbers and positions in EEG signals. Th…
Force control in hydraulic actuators is notoriously difficult due to strong nonlinearities, uncertainties, and the high risks associated with unsafe exploration during learning. This paper investigate…
Wildfires are becoming increasingly frequent, with potentially devastating consequences, including loss of life, infrastructure destruction, and severe environmental damage. Low Earth orbit satellites…
Teleoperation inherently relies on the human operator acting as a closed-loop controller to actively compensate for hardware imperfections, including latency, mechanical friction, and lack of explicit…
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