Research
Research
Research
Research
230+ open-access research outputs.
Proprietary design in commercial windrow-detection systems restricts transparency and limits progress in open autonomous forage-harvesting research. We present a multi-modal dataset combining stereo v…
Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In…
Reinforcement learning-based control policies have been frequently demonstrated to be more effective than analytical techniques for many manipulation tasks. Commonly, these methods learn neural contro…
Contact-rich robotic skills remain challenging for industrial robots due to tight geometric tolerances, frictional variability, and uncertain contact dynamics, particularly when using position-control…
Road construction sites create major challenges for both autonomous vehicles and human drivers due to their highly dynamic and heterogeneous nature. This paper presents a real-time system that detects…
Existing humanoid table tennis systems remain limited by their reliance on external sensing and their inability to achieve agile whole-body coordination for precise task execution. These limitations s…
Visuotactile sensors are indispensable for contact-rich robotic manipulation tasks. However, policy learning with tactile feedback in simulation, especially for online reinforcement learning (RL), rem…
Sign language recognition (SLR) is vital for bridging communication gaps between deaf and hearing communities. Vision-based approaches suffer from occlusion, computational costs, and physical constrai…
Stablecoins serve as the fundamental infrastructure for Decentralised Finance (DeFi), acting as the primary bridge between fiat currencies and the digital asset ecosystem. While peg stability is well-…
Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promising way to improve p…
Accurate segmentation of brain images from magnetic resonance imaging (MRI) scans plays a pivotal role in brain image analysis and the diagnosis of neurological disorders. Deep learning algorithms, pa…
The viability of long-distance telesurgery hinges on reliable network Quality of Service (QoS), yet the impact of realistic network degradations on task performance is not sufficiently understood. Thi…
Reliable insertion of industrial connectors remains a central challenge in robotics, requiring sub-millimeter precision under uncertainty and often without full visual access. Vision-based approaches …
Contact-rich manipulation tasks in unstructured environments pose significant robustness challenges for robot learning, where unexpected collisions can cause damage and hinder policy acquisition. Exis…
Background: Robot-assisted minimally invasive surgery (RMIS) research increasingly relies on multimodal data, yet access to proprietary robot telemetry remains a major barrier. We introduce MiDAS, an …
Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humano…
Data on citywide street-segment traffic volumes are essential for urban planning and sustainable mobility management. Yet such data are available only for a limited subset of streets due to the high c…
This paper proposes a Dynamic Wrench Disturbance Observer (DW-DOB) designed to achieve highly sensitive zero-wrench control in contact-rich manipulation. By embedding task-space inertia into the obser…
Attitude control is essential for many satellite missions. Classical controllers, however, are time-consuming to design and sensitive to model uncertainties and variations in operational boundary cond…
This article addresses the challenge of optimizing handover (HO) in next-generation wireless networks by integrating Reconfigurable Intelligent Surfaces (RIS), predicting received signal power, and ut…
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