Research
Research
Research
Research
87+ open-access research outputs.
The matrix-free gather-batched-GEMM-scatter pattern eliminates global stiffness assembly for three-dimensional SIMP topology optimization, but the conventional three-stage implementation forces avoida…
Building generalist robots capable of performing functional grasping in everyday, open-world environments remains a significant challenge due to the vast diversity of objects and tasks. Existing metho…
Soft materials such as rubbers, hydrogels, and biological tissues undergo damage in the form of stiffness degradation without apparent changes in their stress-free geometry. Accurate simulation of thi…
Diffusion policies excel at visuomotor control but often fail catastrophically under severe out-of-distribution (OOD) disturbances, such as unexpected object displacements or visual corruptions. To ad…
We set out to study whether task-based narratives could influence long-term engagement with a service robot. To do so, we deployed a Robo-Barista for five weeks in an over-50's housing complex in Stoc…
We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provi…
In addition to the core tasks of simultaneous localization and mapping (SLAM), active SLAM additionally in- volves generating robot actions that enable effective and efficient exploration of unknown e…
Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. Wh…
The article describes fundamental analytical properties of an unforced mechanical oscillator with a Duhem-type viscoelastoplastic hysteretic element. These properties include global existence of solut…
Learning multi-fingered robot policies from humans performing daily tasks in natural environments has long been a grand goal in the robotics community. Achieving this would mark significant progress t…
Social anxiety is a prevalent condition that affects interpersonal interactions and social functioning. Recent advances in artificial intelligence and social robotics offer new opportunities to examin…
This paper explores the application of data-driven system identification techniques in the frequency domain to obtain simplified, control-oriented models of photosynthesis regulation under oscillating…
This study investigates whether the opinions of robotic agents can influence human decision-making when robots display value awareness (i.e., the capability of understanding human preferences and prio…
We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot s…
Preschool children with language vulnerabilities -- such as developmental language disorders or immigration related language challenges -- often require support to strengthen their expressive language…
In this work, we present CollabVLA, a self-reflective vision-language-action framework that transforms a standard visuomotor policy into a collaborative assistant. CollabVLA tackles key limitations of…
Trust and the perception of trustworthiness play an important role in decision-making and our behaviour towards others, and this is true not only of human-human interactions but also of human-robot in…
The ocean is warming and acidifying, increasing the risk of mass mortality events for temperature-sensitive shellfish such as oysters. This motivates the development of long-term monitoring systems. H…
Introduction: This study presents FetalSleepNet, the first published deep learning approach to classifying sleep states from the ovine electroencephalogram (EEG). Fetal EEG is complex to acquire and d…
Surgical training remains a crucial milestone in modern medicine, with procedures such as laminectomy exemplifying the high risks involved. Laminectomy drilling requires precise manual control to mill…
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