Research
Research
Research
Research
39,379+ open-access research outputs.
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineer…
In contact-rich tasks, while position trajectories are often easy to obtain, appropriate force commands are typically unknown. Although it is conceivable to generate force commands using a pretrained …
Precise magnetic field modeling is fundamental to the closed-loop control of electromagnetic navigation systems (eMNS) and the analytical Multipole Expansion Model (MPEM) is the current standard. Howe…
This paper presents a novel, compact four-degree-of-freedom motion-tracking device (IMTD) designed for training and evaluation in laparoscopic surgery. The device's kinematics, mechanical design, inst…
While generalist robot policies hold significant promise for learning diverse manipulation skills through imitation, their performance is often hindered by the long-tail distribution of training demon…
Recent progress in robotic world models has leveraged video diffusion transformers to predict future observations conditioned on historical states and actions. While these models can simulate realisti…
Vision-based models for robotic grasping automate critical, repetitive, and draining industrial tasks. Existing approaches are typically limited in two ways: they either target a single gripper and ar…
Achieving stable and energy-efficient locomotion is essential for humanoid robots to operate continuously in real-world applications. Existing MPC and RL approaches often rely on energy-related metric…
Achieving robust vision-based humanoid locomotion remains challenging due to two fundamental issues: the sim-to-real gap introduces significant perception noise that degrades performance on fine-grain…
Embodied agents struggle to generalize to new environments, even when those environments share similar underlying structures to their training settings. Most current approaches to generating these tra…
Vision-Language Navigation (VLN) requires embodied agents to interpret natural language instructions and navigate through complex continuous 3D environments. However, the dominant imitation learning p…
Metal artifact significantly degrades Computed Tomography (CT) image quality, impeding accurate clinical diagnosis. However, existing deep learning approaches, such as CNN and Transformer, often fail …
Humanoid loco-manipulation requires executing precise manipulation tasks while maintaining dynamic stability amid base motion and impacts. Existing approaches typically formulate commands in body-cent…
Unsupervised speech emotion recognition (SER) focuses on addressing the problem of data sparsity and annotation bias of emotional speech. Reinforcement learning (RL) is a promising method which enhanc…
This paper proposes a hard-constrained unsupervised learning framework for rapidly solving the non-linear and non-convex AC optimal power flow (AC-OPF) problem in real-time operation. Without requirin…
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven pred…
World models offer a promising avenue for more faithfully capturing complex dynamics, including contacts and non-rigidity, as well as complex sensory information, such as visual perception, in situati…
Neural audio codecs are widely used for audio compression and can be integrated into token-based language models. Traditional codecs preserve acoustic details well but lack semantic information. Recen…
This paper studies the container lifting phase of a waste-container recycling task in urban environments, performed by a hydraulic loader crane equipped with an underactuated discharge unit, and propo…
Reliable terrain perception is a critical prerequisite for the deployment of humanoid robots in unstructured, human-centric environments. While traditional systems often rely on manually engineered, s…
Free open-access publishing with Google Scholar indexing.
Submission Guide →