Research
Research
Research
Research
8,502+ open-access research outputs.
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncert…
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random sh…
Automatic feature recognition (AFR) on B-Rep 3D-CAD models is central to CAD/CAM automation, yet most learning-based methods are complex, data-hungry, and evaluate instance grouping and semantic label…
Nuclear fusion is a promising clean energy source in which deuterium and tritium fuse inside a magnetically confined plasma in a tokamak, releasing energy. A key challenge on the route to practical nu…
Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS) is an image-guided robotic intervention that enhances the accuracy and reproducibility of conventional Transcranial Magnetic Stimulation (TM…
Electroencephalography (EEG) is highly susceptible to artifact contamination, such as electrooculographic (EOG) and electromyographic (EMG) interference, which severely degrades signal quality and hin…
Selective State-Space Models (SSMs) such as Mamba have emerged as an alternative architecture to self-attention based transformers in sequence modeling tasks. Recent works have demonstrated the use of…
The growing number of Internet-of-Things (IoT) based artificial intelligence (AI) applications deployed at resource-constrained network edge call for ultra-reliable and low-latency data processing pip…
Imitation learning is a well-established approach for machine-learning-based control. However, its applicability depends on having access to demonstrations, which are often expensive to collect and/or…
The emergence of large-scale pretrained foundation models has transformed computer vision, enabling strong performance across diverse downstream tasks. However, their potential for physics-based inver…
Indoor positioning is an essential technology for a wide range of applications in GNSS-denied environments, including indoor navigation and IoT systems. Combining convolutional neural networks (CNNs) …
Computed tomography (CT)-based attenuation and scatter correction improves quantitative PET but adds radiation exposure that is particularly undesirable in pediatric imaging. Existing CT-free methods …
In spite of the utility of 3-D electron back-scattered diffraction (EBSD) microscopy, the data collection process can be time-consuming with serial-sectioning. Hence, it is natural to look at other mo…
Brain-inspired non-Boolean computing offers intrinsic error tolerance and parallelism, but its practical deployment is limited by the lack of compact, energy-efficient spiking hardware compatible with…
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringe…
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been…
Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level knowledge and spatial aw…
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…
Realizing active visual tracking with a single unified model across diverse robots is challenging, as the physical constraints and motion dynamics vary drastically from one platform to another. Existi…
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single codebase. Most open-source VLA efforts specialize on the action training stage, often stitching tog…
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