Research
Research
Research
Research
541+ open-access research outputs.
What appears effortless to a human waiter remains a major challenge for robots. Manipulating objects nonprehensilely on a tray is inherently difficult, and the complexity is amplified in dual-arm sett…
Given a demonstration, a robot should be able to generalize a skill to any object it encounters-but existing approaches to skill transfer often fail to adapt to objects with unfamiliar shapes. Motivat…
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in a stable manner. Similarly, legged robots ne…
We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, introduced in the compani…
Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodi…
In the first part of this two-part paper a game-theoretic decentralized real-time control is proposed in the context of Electric Vehicle (EV) Charging Station (CS). This method, relying on a Stackelbe…
Large-scale Electric Vehicle (EV) Charging Station (CS) may be too large to be dispatched in real-time via a centralized approach. While a decentralized approach may be a viable solution, the lack of …
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-in…
Loco-manipulation is a key capability for legged robots to perform practical mobile manipulation tasks, such as transporting and pushing objects, in real-world environments. However, learning robust l…
Opening sterile medical packaging is routine for healthcare workers but remains challenging for robots. Learning from demonstration enables robots to acquire manipulation skills directly from humans, …
We present FireRedASR2S, a state-of-the-art industrial-grade all-in-one automatic speech recognition (ASR) system. It integrates four modules in a unified pipeline: ASR, Voice Activity Detection (VAD)…
Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-specific parameter tunin…
The paper documents the implementation of a novel phase-noise analysis module within the open-source QUCS circuit simulator environment. The underlying algorithm is based on a rigorous, unified time-d…
Tactile Walking Surface Indicators (TWSIs) are safety-critical landmarks that blind and low-vision (BLV) pedestrians use to locate crossings and hazard zones. From our observation sessions with BLV gu…
Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due …
This two-part paper aims to develop an environment-aware network-level design framework for generalized pinching-antenna systems to overcome the limitations of conventional link-level optimization, wh…
Existing studies on generalized pinching-antenna systems are predominantly link-level, which optimize system parameters for a given user set with objectives defined by per-user performance metrics. Su…
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, a…
Articulated object manipulation is essential for various real-world robotic tasks, yet generalizing across diverse objects remains a major challenge. A key to generalization lies in understanding func…
This paper develops the proof of concept for a novel affine transformable unmanned ground vehicle (ATUGV) with the capability of safe and aggressive deformation while carrying multiple payloads. The A…
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