Research
Research
Research
Research
16+ open-access research outputs.
Foundation segmentation models such as the Segment Anything Model (SAM) have demonstrated strong generalization across natural images; however, their robustness under clinically realistic medical imag…
Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on u…
A healthy smile plays a significant role in functional as well as esthetic considerations, improving confidence. It is difficult for dental professionals to strike a balance between esthetic requireme…
Adept manipulation of articulated objects is essential for robots to operate successfully in human environments. Such manipulation requires both effectiveness--reliable operation despite uncertain obj…
This work studies distributed multiple testing with false discovery rate (FDR) control in the presence of Byzantine attacks, where an adversary captures a fraction of the nodes and corrupts their repo…
In this paper, we present several results of both theoretical as well as practical interests. First, we propose the quota lawn mowing problem, an extension of the classic lawn mowing problem in comput…
Although end-to-end robot learning has shown some success for robot manipulation, the learned policies are often not sufficiently robust to variations in object pose or geometry. To improve the policy…
The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to…
The following is a user guide for the Dual Radar SAR Controller graphical user interface (GUI) to operate the dual radar synthetic aperture radar (SAR) scanner. The scanner was designed in the Spring …
Manipulating objects without grasping them is an essential component of human dexterity, referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more complex interactions wi…
In light of the COVID-19 pandemic, patients were required to manually input their daily oxygen saturation (SpO2) and pulse rate (PR) values into a health monitoring system-unfortunately, such a proces…
This work concerns controlling the false discovery rate (FDR) in networks under communication constraints. We present sample-and-forward, a flexible and communication-efficient version of the Benjamin…
This paper studies the classical problem of estimating the locations of signal occurrences in a noisy measurement. Based on a multiple hypothesis testing scheme, we design a K-sample statistical test …
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile ro…
We introduce and study the problem of planning a trajectory for an agent to carry out a scouting mission while avoiding being detected by an adversarial guard. This introduces an adversarial version o…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of …
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