Research
Research
Research
Research
2,606+ open-access research outputs.
Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting c…
Understanding human actions is critical for advancing behavior analysis in human-robot interaction. Particularly in tasks that demand quick and proactive feedback, robots must recognize human actions …
Safe navigation in cluttered environments is an important challenge for autonomous systems. Robots navigating through obstacle ridden scenarios need to be able to navigate safely in the presence of ob…
Assisting humans in open-world outdoor environments requires robots to translate high-level natural-language intentions into safe, long-horizon, and socially compliant navigation behavior. Existing ma…
A problem of online estimation of unknown parameters is considered for a linear regression equation, which is affected by an additive perturbation that can be caused by measurement noise (that corrupt…
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety filters have proven e…
Ultrasound (US)-guided needle insertion is a critical yet challenging procedure due to dynamic imaging conditions and difficulties in needle visualization. Many methods have been proposed for automate…
Near-field propagation is often unavoidable at terahertz (THz) frequencies due to the large apertures needed for sufficient array gain, yet near-field operation complicates practical system design, es…
Data-based adaptive optimization methods hold great promise for the performance optimization of uncertain, time-varying processes. However, current methods are often based on continuous perturbation w…
We formulate a method to co-optimize power system capacity planning decisions and policy investments that shape electricity load patterns. To this end, we leverage a gradient-based solution technique …
Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and …
Deep learning has enabled highly realistic synthetic speech, raising concerns about fraud, impersonation, and disinformation. Despite rapid progress in neural detectors, transparent baselines are need…
Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body co…
3D Gaussian Splatting is a powerful visual representation, providing high-quality and efficient 3D scene reconstruction, but it is crucially dependent on accurate camera poses typically obtained from …
For the past decades medical robotic solutions were mostly based on the concept of tele-manipulation. While their design was extremely intelligent, allowing for better access, improved dexterity, redu…
Open-loop (OL) to closed-loop (CL) gap (OL-CL gap) exists when OL-pretrained policies scoring high in OL evaluations fail to transfer effectively in closed-loop (CL) deployment. In this paper, we unve…
Implicit neural representations (INRs) provide a parameter-efficient and fully differentiable image model for CT reconstruction. However, optimizing INRs for CT reconstruction using standard auto-diff…
In this paper, a new discrete-time approach to model the clutches engagement/disengagement in a two-speed powershift is proposed. The core idea is the development of a model for the computation of the…
Large-scale Electric Vehicle (EV) Charging Station (CS) may be too large to be dispatched in real-time via a centralized approach. While a decentralized approach may be a viable solution, the lack of …
Approximate full mass matrix methods for the material point method, known as FMPM(k) of order k, can improve the calculation of grid velocities from grid momentum. It can be implemented in any MPM cod…
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