Research
Research
Research
Research
361+ open-access research outputs.
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that leverages learned s…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredicta…
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing solutions rely on m…
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…
Linear system identification and sparse dictionary learning can both be seen as structured matrix factorization problems. However, these two problems have historically been studied in isolation by the…
State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in cluttered environments p…
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asym…
In densely cluttered environments, physical interference, visual occlusions, and unstable contacts often cause direct dexterous grasping to fail, while aggressive singulation strategies may compromise…
We present a complete infrastructure-less magneto-inductive (MI) localization system enabling a lightweight UAV to autonomously hover, track, and land with centimeter precision on a mobile quadruped r…
Asymmetric 3D pursuit-evasion in cluttered voxel environments is difficult under communication latency, partial observability, and nonholonomic maneuver limits. While many MARL methods rely on richer …
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficult to manipulate -- …
Long-horizon contact-rich robotic manipulation remains challenging due to partial observability and unstable subtask transitions under contact uncertainty. While hierarchical architectures improve tem…
Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR interfaces often rely on …
Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that…
Imitation learning provides a powerful framework for goal-conditioned visual navigation in mobile robots, enabling obstacle avoidance while respecting human preferences and social norms. However, its …
A performance comparison of FTN-QAM and PCS-QAM for amplifier-less short-reach coherent communication systems is provided. With the applications of phase tracking partial response DFE and turbo equali…
This work presents a self powered water leak sensor that eliminates both batteries and local gateways. The design integrates a dual compartment electrochemical harvester, a low input boost converter w…
Electric prosthetic hands should be lightweight to decrease the burden on the user, shaped like human hands for cosmetic purposes, and designed with motors enclosed inside to protect them from damage …
The development of robust and generalizable robot learning models is critically contingent upon the availability of large-scale, diverse training data and reliable evaluation benchmarks. Collecting da…
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