Research
Research
Research
Research
2,218+ open-access research outputs.
This paper presents a novel approach for pretraining robotic manipulation Vision-Language-Action (VLA) models using a large corpus of unscripted real-life video recordings of human hand activities. Tr…
Accurate robot kinematics is essential for precise tool placement in articulated robots, but non-geometric factors can introduce configuration-dependent model discrepancies. This paper presents a conf…
Reconstructing signed distance functions (SDFs) from point cloud data benefits many robot autonomy capabilities, including localization, mapping, motion planning, and control. Methods that support onl…
We present a dequantization method that employs a phase-aware regularizer, originally successfully applied in an audio inpainting problem. The method promotes a temporal continuity of sinusoidal compo…
Audio-visual speech enhancement (AVSE) has been found to be particularly useful at low signal-to-noise (SNR) ratios due to the immunity of the visual features to acoustic noise. However, a significant…
Assembly hinges on reliably forming connections between parts; yet most robotic approaches plan assembly sequences and part poses while treating connectors as an afterthought. Connections represent th…
We present a fast, differentiable, GPU-accelerated optimization method for ray path tracing in environments containing planar reflectors and straight diffraction edges. Based on Fermat's principle, ou…
We present DexCanvas, a large-scale hybrid real-synthetic human manipulation dataset containing 7,000 hours of dexterous hand-object interactions seeded from 70 hours of real human demonstrations, org…
Electromyography (EMG) signals are widely used for predicting body joint angles through machine learning (ML) and deep learning (DL) methods. However, these approaches often face challenges such as li…
This thesis delves into the world of non-invasive electrophysiological brain signals like electroencephalography (EEG) and magnetoencephalography (MEG), focusing on modelling and decoding such data. T…
Critical real-world applications strongly rely on Cyber-physical systems (CPS), but their dependence on communication networks introduces significant security risks, as attackers can exploit vulnerabi…
We consider a problem faced by an intelligent roadside unit (RSU) monitoring a roadway by a video camera. Suppose the RSU notices that a particular car in its visual field needs to execute a specific …
Limited visibility of distribution network power flows at the low voltage level presents challenges to both distribution network operators from a planning perspective and distribution system operators…
Accurate segmentation of 3D medical images is critical for clinical applications like disease assessment and treatment planning. While the Segment Anything Model 2 (SAM2) has shown remarkable success …
Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform o…
Robust ASR under domain shift is crucial because real-world systems encounter unseen accents and domains with limited labeled data. Although pseudo-labeling offers a practical workaround, it often int…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a …
There are limitations of traditional methods and deep learning methods in terms of interpretability, generalization, and quantification of uncertainty in industrial fault diagnosis, and there are core…
An increasingly common training paradigm for multi-talker automatic speech recognition (ASR) is to use speaker activity signals to adapt single-speaker ASR models for overlapping speech. Although effe…
The availability of large, unlabeled datasets across various domains has contributed to the development of a plethora of methods that learn representations for multiple target (downstream) tasks throu…
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