Research
Research
Research
Research
105+ open-access research outputs.
Marine ecosystem degradation necessitates continuous, scientifically selective underwater monitoring. However, most autonomous underwater vehicles (AUVs) operate as passive data loggers, capturing exh…
In Model Predictive Control (MPC), world models predict the future outcomes of various action proposals, which are then scored to guide the selection of the optimal action. For visuomotor MPC, the sco…
Multi-modal image registration plays a critical role in precision medicine but faces challenges from non-linear intensity relationships and local optima. While deep learning models enable rapid infere…
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…
Inertial navigation using low-cost MEMS sensors is plagued by rapid drift due to sensor noise and bias instability. While recent data-driven approaches have made significant strides, they often strugg…
Recently, generative diffusion priors have made huge strides as inverse problem solvers, including the ability to be adapted for inference on out-of-distribution data. Concurrently, implicit neural re…
We propose DistGP: a multi-robot learning method for collaborative learning of a global function using only local experience and computation. We utilise a sparse Gaussian process (GP) model with a fac…
Recent robot foundation models largely rely on large-scale behavior cloning, which imitates expert actions but discards transferable dynamics knowledge embedded in heterogeneous embodied data. While t…
Deep learning models trained in a supervised setting have revolutionized audio and speech processing. However, their performance inherently depends on the quantity of human-annotated data, making them…
Semi-supervised learning (SSL) has emerged as a critical paradigm for medical image segmentation, mitigating the immense cost of dense annotations. However, prevailing SSL frameworks are fundamentally…
Sampling-based motion planners (SBMPs) are widely used for robot motion planning with complex kinodynamic constraints in high-dimensional spaces, yet they struggle to achieve \emph{real-time} performa…
Unsupervised anomaly detection (AD) in medical images aims to identify abnormal regions without relying on pixel-level annotations, which is crucial for scalable and label-efficient diagnostic systems…
Depth sensors are widely deployed across robotic platforms, and advances in fast, high-fidelity depth simulation have enabled robotic policies trained on depth observations to achieve robust sim-to-re…
As aerial platforms evolve from passive observers to active manipulators, the challenge shifts toward designing intuitive interfaces that allow non-expert users to command these systems naturally. Thi…
Foundation segmentation models such as SAM and SAM-2 perform well on natural images but struggle with brain MRIs where structures like the caudate and thalamus lack sharp boundaries and have low contr…
This paper studies targeted opinion formation in multi-agent systems evolving over signed, time-varying directed graphs. The dynamics of each agent's state follow a Laplacian-based update rule driven …
Unmanned aerial vehicles (UAVs) operating in dynamic wind fields must generate safe and energy-efficient trajectories under physical and environmental constraints. Traditional planners, such as A* and…
Parking is a critical pillar of driving safety. While recent end-to-end (E2E) approaches have achieved promising in-domain results, robustness under domain shifts (e.g., weather and lighting changes) …
Cardiac catheterization remains a cornerstone of minimally invasive interventions, yet it continues to rely heavily on manual operation. Despite advances in robotic platforms, existing systems are pre…
A new AUV mission planning and execution software has been tested on AUV Sentry. Dubbed DINOS-R, it draws inspiration from cognitive architectures and AUV control systems to replace the legacy MC arch…
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