Research
Research
Research
Research
37+ open-access research outputs.
Line following robots are fundamental platforms in robotics education, yet commercially available solutions remain prohibitively expensive ($150-300$) while lacking integrated obstacle detection capab…
Studying early speech development at scale requires automatic tools, yet automatic phoneme recognition, especially for young children, remains largely unsolved. Building on decades of data collection,…
Practical design and tuning of feedback controllers has to do often without any model of the given dynamic process. Only some general assumptions about the process, in this work type-one stable behavi…
Pruning large pre-trained transformers for low-resource languages is challenging, as it often requires massive retraining data to recover performance. For instance, Distill-Whisper prunes Whisper by 4…
Deictic gestures, like pointing, are a fundamental form of non-verbal communication, enabling humans to direct attention to specific objects or locations. This capability is essential in Human-Robot I…
We propose a novel diffusion-based action model for robotic motion planning. Commonly, established numerical planning approaches are used to solve general motion planning problems, but have significan…
This paper proposes a spectral-based tuning method for proportional-integral (PI) controllers in integrating-plus-dead-time (IPDT) systems. The design objective is to achieve unified exponential decay…
We introduce a new approach, the ContrastiveTransformer, that produces acoustic word embeddings (AWEs) for the purpose of very low-resource keyword spotting. The ContrastiveTransformer, an encoder-onl…
This paper presents a PID tuning method based on step response curve fitting (PID-SRCF) that utilizes L2-norm minimization for precise reference tracking and explicit transient response shaping. The a…
Classical PID control is widely applied in an engineering system, with parameter regulation relying on a method like Trial - Error Tuning or the Ziegler - Nichols rule, mainly for a Single - Input Sin…
Datasets for object detection often do not account for enough variety of glasses, due to their transparent and reflective properties. Specifically, open-vocabulary object detectors, widely used in emb…
Stress became a common factor in the busy daily routines of all academic and corporate working environments. Everyone checks for efficient stress-buster alternatives to calm down from work pressure. I…
Neurological gait disorders affect a large population, significantly reducing life quality. This paper brings a foundational understanding to the potentials of emerging sensing modalities (e.g., WiFi)…
The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current …
This paper introduces a novel zero-shot motion planning method that allows users to quickly design smooth robot motions in Cartesian space. A B\'ezier curve-based Cartesian plan is transformed into a …
Although there has been rapid progress in endowing robots with the ability to solve complex manipulation tasks, generating control policies for bimanual robots to solve tasks involving two hands is st…
The paper introduces CycleIK, a neuro-robotic approach that wraps two novel neuro-inspired methods for the inverse kinematics (IK) task, a Generative Adversarial Network (GAN), and a Multi-Layer Perce…
Multimodal integration is a key component of allowing robots to perceive the world. Multimodality comes with multiple challenges that have to be considered, such as how to integrate and fuse the data.…
Robotic platforms that can efficiently collaborate with humans in physical tasks constitute a major goal in robotics. However, many existing robotic platforms are either designed for social interactio…
Expressing various facial emotions is an important social ability for efficient communication between humans. A key challenge in human-robot interaction research is providing androids with the ability…
Free open-access publishing with Google Scholar indexing.
Submission Guide →