Research
Research
Research
Research
593+ open-access research outputs.
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast the inference is. Asy…
Resource allocation in integrated sensing and communication (ISAC) systems needs to be optimized to balance the requirements of the communication and sensing modules considering complicated cross-laye…
Biomolecular systems are often modeled with partially known nonlinear stochastic dynamics, making state and parameter estimation a central challenge. While Kalman filtering techniques are widely used …
Multi-speaker automatic speech recognition (ASR) aims to transcribe conversational speech involving multiple speakers, requiring the model to capture not only what was said, but also who said it and s…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions.…
This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopma…
Unification of automatic speech recognition (ASR) systems reduces development and maintenance costs, but training a single model to perform well in both offline and low-latency streaming settings rema…
Vision-language-action (VLA) models have achieved great success on general robotic tasks, but still face challenges in fine-grained spatiotemporal manipulation. Typically, existing methods mainly embe…
Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-horizon action-chunked…
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…
Extranodal extension (ENE) is an emerging prognostic factor in human papillomavirus (HPV)-associated oropharyngeal cancer (OPC), although it is currently omitted as a clinical staging criteria. Recent…
We present Genie Sim PanoRecon, a feed-forward Gaussian-splatting pipeline that delivers high-fidelity, low-cost 3D scenes for robotic manipulation simulation. The panorama input is decomposed into si…
Robotic imitation learning faces a fundamental trade-off between modeling long-horizon dependencies and enabling fine-grained closed-loop control. Existing fixed-frequency action chunking approaches s…
In Vision-Language-Action (VLA) models, action chunking (i.e., executing a sequence of actions without intermediate replanning) is a key technique to improve robotic manipulation abilities. However, a…
Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symboli…
Vision-Language-Action (VLA) models, as large foundation models for embodied control, have shown strong performance in manipulation tasks. However, their performance comes at high inference cost. To i…
Vision-language-action (VLA) models have demonstrated exceptional performance in natural language-driven perception and control. However, the high computational cost of VLA models poses significant ef…
Coarse-to-fine autoregressive modeling has recently shown strong promise for visuomotor policy learning, combining the inference efficiency of autoregressive methods with the global trajectory coheren…
Robot swarms offer inherent robustness and the capacity to execute complex, collaborative tasks surpassing the capabilities of single-agent systems. Co-designing these systems is critical, as marginal…
Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions. However, existing hierarchical and autoregressive paradigms often…
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