Research
Research
Research
Research
327+ open-access research outputs.
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…
This paper investigates the robust stability problem of a feedback system in the presence of uncertainties induced by graphical regions in the plane where the scaled relative graphs (SRGs) reside. Our…
Imitation learning is a powerful paradigm for training robotic policies, yet its performance is limited by compounding errors: minor policy inaccuracies could drive robots into unseen out-of-distribut…
This paper presents a driving-cycle-aware shape and topology optimization workflow for interior permanent magnet synchronous machines used in traction drives. A k-means clustering approach reduces ful…
This paper focuses on embodied task planning, where an agent acquires visual observations from the environment and executes atomic actions to accomplish a given task. Although recent Vision-Language M…
Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available, policies are prone…
Long-horizon robotic manipulation remains challenging for reinforcement learning (RL) because sparse rewards provide limited guidance for credit assignment. Practical policy improvement thus relies on…
Video-generative world models are increasingly used as neural simulators for embodied planning and policy learning, yet their ability to predict physical risk and severe consequences is rarely evaluat…
The system identification capabilities of a novel information-theoretic method are examined here. Specifically, this work uses information-theoretic metrics and vibration-based measurements to enhance…
Spherical Harmonics ROOM), an open-source Python library for room acoustics simulation using Ambisonics, available at https://github.com/Yhonatangayer/shroom and installable via \texttt{pip install py…
There are two major categories of embodied navigation: Vision-Language Navigation (VLN), where agents navigate by following natural language instructions; and Object-Goal Navigation (OGN), where agent…
This paper presents a safety-guaranteed, runtime-efficient imitation learning framework for spacecraft close proximity control. We leverage Control Barrier Functions (CBFs) for safety certificates and…
Humans routinely leverage semantic hints provided by signage to navigate to destinations within novel Large-Scale Indoor (LSI) environments, such as hospitals and airport terminals. However, this capa…
Learning generalizable and robust behavior cloning policies requires large volumes of high-quality robotics data. While human demonstrations (e.g., through teleoperation) serve as the standard source …
We develop a fast and accurate method for 3D alignment, recovering the rotation and translation that best align a reference volume with a noisy observation. Classical matched filtering evaluates cross…
Robots are increasingly expected to execute open ended natural language requests in human environments, which demands reliable long horizon execution under partial observability. This is especially ch…
Temporal task structure is fundamental for bimanual manipulation: a robot must not only know that one action precedes or overlaps another, but also when each action should occur and how long it should…
Scaling imitation learning is fundamentally constrained by the efficiency of data collection. While handheld interfaces have emerged as a scalable solution for in-the-wild data acquisition, they predo…
Imitation learning (IL) has shown strong potential for contact-rich precision insertion tasks. However, its practical deployment is often hindered by covariate shift and the need for continuous expert…
Long-horizon precision manipulation in laboratory automation, such as pipette tip attachment and liquid transfer, requires policies that respect strict procedural logic while operating in continuous, …
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