Research
Research
Research
Research
11,037+ open-access research outputs.
We present Move-Then-Operate, a Vision language action framework that explicitly decouples robotic manipulation into two distinct behavioral phases: coarse relocation (move) and contact-critical inter…
Contact-rich manipulation is central to many everyday human activities, requiring continuous adaptation to contact uncertainty and external disturbances through multi-modal perception, particularly vi…
Gaussian basis functions provide an efficient and flexible alternative to spline activations in KANs. In this work, we introduce the partition-of-unity Gaussian KAN (PU-GKAN), a Shepard-type normalize…
In high-conflict mixed-traffic scenarios involving human-driven and autonomous vehicles, most existing autonomous driving systems default to overly conservative behaviors, lack proactive interaction, …
Learning from demonstration is widely used for robot navigation, yet it suffers from a fundamental limitation: demonstrations consist predominantly of successful behaviors and provide limited coverage…
Neural networks can be trained to learn task-relevant representations from data. Understanding how these networks make decisions falls within the Explainable AI (XAI) domain. This paper proposes to st…
Learning robot manipulation from human videos is appealing due to the scale and diversity of human demonstrations, but transferring such demonstrations to executable robot behavior remains challenging…
Have you ever post-trained a generalist vision-language-action (VLA) policy on a small demonstration dataset, only to find that it stops responding to new instructions and is limited to behaviors obse…
Building models that generalize across physical systems without retraining remains a central challenge in computational science. Here we introduce In-Context Modeling (ICM), a retrain-free paradigm th…
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative robots for rehabili…
This paper presents an integrated lander-propulsion-GNC framework for autonomous lunar powered descent. The BUG VTVL test vehicle serves as the reference platform, with the YUNT V0 throttleable biprop…
In behavioral cloning (BC), policy performance is fundamentally limited by demonstration data quality. Real-world datasets contain trajectories of varying quality due to operator skill differences, te…
Humanoid robots operating in unstructured environments must recover from unexpected disturbances-a capability that remains challenging for end-to-end control policies. We present RECOVERFORMER, a full…
Optical wireless communication (OWC) is a promising technology for supporting data intensive services in indoor environments due to its large unregulated spectrum, high spatial reuse, and potential fo…
The real-world deployment of Vision-Language-Action (VLA) models remains limited by the risk of unpredictable and irreversible physical harm. However, we currently lack effective mechanisms to proacti…
Understanding social dominance in animal behavior is critical for neuroscience and behavioral studies. In this work, we explore the capability of Multimodal Large Language Models(MLLMs) to analyze raw…
This paper presents a novel control strategy for multi-agent shepherding of non-cohesive targets in obstacle-rich environments. Unlike previous approaches that assume cohesive flocking behavior, our m…
Autonomous robots operating in open environments need the ability to continuously handle tasks that are not covered by predefined local methods. However, existing approaches often rely on repeated lar…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated in…
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that leverages learned s…
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