Research
Research
Research
Research
602+ open-access research outputs.
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
The joint training of speech enhancement and speaker embedding networks for speaker recognition is widely adopted under noisy acoustic environments. While effective, this paradigm often fails to lever…
Accurately estimating friction coefficients between arbitrary material pairs is critical for robotics, digital fabrication, and physics-based simulation, but exhaustive pairwise testing scales quadrat…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although…
We investigate the problem of jointly testing a pair of composite hypotheses and, depending on the test result, estimating a random parameter under distributional uncertainties. Specifically, it is as…
Over the recent years, the field of robotics has been undergoing a transformative paradigm shift from fixed, single-task, domain-specific solutions towards adaptive, multi-function, general-purpose ag…
At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physical actions are fundamentally defined by geometric properties like 3D positions and spatial re…
Force and torque (F/T) sensing is critical for robot-environment interaction, but physical F/T sensors impose constraints in size, cost, and fragility. To mitigate this, recent studies have estimated …
Accurate inference from quartz crystal microbalance (QCM) measurements in liquids is often limited by reducing resonance behavior to two scalar endpoints (frequency and dissipation shifts, $\Delta f$ …
Particle Swarm Optimization (PSO) is susceptible to premature convergence when the swarm collapses around the global best, particularly on multimodal landscapes in higher dimensions. We propose Diverg…
One of the concerns with autonomous vehicles is their ability to communicate their intent to other road users, specially pedestrians, in order to prevent accidents. External Human-Machine Interfaces (…
The growing complexity of visuomotor policies poses significant challenges for deployment with heterogeneous robotic hardware constraints. However, most existing model-efficient approaches for robotic…
Let $f:\mathbb{R}^n\to\mathbb{R}$ be an unknown object, and suppose the observations are tomographic projections of randomly rotated copies of $f$ of the form $Y = P(R\cdot f)$, where $R$ is Haar-unif…
The human auditory system has the ability to selectively focus on key speech elements in an audio stream while giving secondary attention to less relevant areas such as noise or distortion within the …
Robotic exploration in large-scale environments is computationally demanding due to the high overhead of processing extensive frontiers. This article presents an OctoMap-based frontier exploration alg…
Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and richness of visual observations. However, purely visual sensing becomes insufficient in cont…
Cross-hospital failure in chest X-ray models is often attributed to domain shift, yet most work assumes invariance without measuring it. This paper studies how to measure site leakage directly and how…
The HEALthy Brain and Childhood Development (HBCD) Study is an ongoing longitudinal initiative to understand population-level brain maturation; however, large-scale studies must overcome site-related …
This paper provides the first systematic economic analysis of token pricing in the large language model (LLM) inference market. Assembling a novel dataset integrating OpenRouter API data (318 models),…
The advancement of autonomous systems -- from legged robots to self-driving vehicles and aircraft -- necessitates executing increasingly high-performance and dynamic motions without ever putting the s…
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