Research
Research
Research
Research
8,502+ open-access research outputs.
Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfort and cross-user ad…
We present SAL (SLAM Adversarial Lab), a modular framework for evaluating visual SLAM systems under adversarial conditions such as fog and rain. SAL represents each adversarial condition as a perturba…
Quality assessment of brain structural MR images is critical for large-scale neuroimaging studies, where motion artifacts can significantly bias clinical estimates. While visual rating remains the gol…
A prevailing view in robot learning is that simulation alone is not enough; effective sim-to-real transfer is widely believed to require at least some real-world data collection or task-specific fine-…
Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their l…
Robot-assisted therapy can deliver high-dose, task-specific training after neurologic injury, but most systems act primarily at the limb level-engaging the impaired neural circuits only indirectly-whi…
This article presents a deep learning-driven inverse design methodology for Doherty power amplifiers (PA) with multi-port pixelated output combiner networks. A deep convolutional neural network (CNN) …
Well-designed dense reward functions in robot manipulation not only indicate whether a task is completed but also encode progress along the way. Generally, designing dense rewards is challenging and u…
This article presents a solution to intercept an agile drone by another agile drone carrying a catching net. We formulate the interception as a Competitive Reinforcement Learning problem, where the in…
Autonomous driving requires safe planning, but most learning-based planners lack explicit self-correction ability: once an unsafe action is proposed, there is no mechanism to correct it. Thus, we prop…
What happens when a pretrained generative robot policy is provided a constant initial noise as input, rather than repeatedly sampling it from a Gaussian? We demonstrate that the performance of a pretr…
Social navigation requires robots to act safely in dynamic human environments. Effective behavior demands thinking ahead: reasoning about how the scene and pedestrians evolve under different robot act…
Tactile sensing is a crucial capability for Vision-Language-Action (VLA) architectures, as it enables dexterous and safe manipulation in contact-rich tasks. However, reliance on dedicated tactile hard…
Simulating realistic environments for robots is widely recognized as a critical challenge in robot learning, particularly in terms of rendering and physical simulation. This challenge becomes even mor…
Robust detection of COVID-19 from chest CT remains challenging in multi-institutional settings due to substantial source shift, source imbalance, and hidden test-source identities. In this work, we pr…
In this work, we study how to best utilize pre-trained LLMs for automatic speech recognition. Specifically, we compare the tight integration of an acoustic model (AM) with the LLM ("speech LLM") to th…
We study whether optimal state-feedback laws for a family of heterogeneous Multiple-Input, Multiple-Output (MIMO) Linear Time-Invariant (LTI) systems can be captured by a single learned controller. We…
Accurate segmentation of brain images from magnetic resonance imaging (MRI) scans plays a pivotal role in brain image analysis and the diagnosis of neurological disorders. Deep learning algorithms, pa…
The system frequency is a critical measure of power system stability and understanding, and modeling it are key to ensure reliable power system operations. Koopman-based autoencoders are effective at …
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive …
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