Research
Research
Research
Research
121+ open-access research outputs.
Tendon drives paired with soft muscle actuation enable faster and safer robots while potentially accelerating skill acquisition. Still, these systems are rarely used in practice due to inherent nonlin…
Orthogonal time frequency space (OTFS) modulation offers superior robustness to high-mobility channels compared to conventional orthogonal frequency-division multiplexing (OFDM) waveforms. However, it…
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),…
Environmental sound understanding in computational auditory scene analysis (CASA) is often formulated as an audio-only recognition problem. This formulation leaves a persistent drawback in multi-label…
The environmental impact of Large Language Models (LLMs) on data centers hosting these models is becoming a significant concern. While many efforts have focused on reducing the substantial training ov…
Visuomotor navigation policies have shown strong perception-action coupling for embodied agents, yet they often struggle with safe navigation and dynamic obstacle avoidance in complex real-world envir…
Executing reliable Humanoid-Object Interaction (HOI) tasks for humanoid robots is hindered by the lack of generalized control interfaces and robust closed-loop perception mechanisms. In this work, we …
Saplings are key indicators of forest regeneration and overall forest health. However, their fine-scale architectural traits are difficult to capture with existing 3D sensing methods, which make quant…
Enabling humanoid robots to physically interact with humans is a critical frontier, but progress is hindered by the scarcity of high-quality Human-Humanoid Interaction (HHoI) data. While leveraging ab…
We consider outdoor optical access points (OAPs), which, enabled by recent advances in metasurface technology, have attracted growing interest. While OAPs promise high data rates and strong physical-l…
We propose BEV-Patch-PF, a GPS-free sequential geo-localization system that integrates a particle filter with learned bird's-eye-view (BEV) and aerial feature maps. From onboard RGB and depth images, …
We present a dataset for force-grounded, cross-view articulated manipulation that couples what is seen with what is done and what is felt during real human interaction. The dataset contains 3048 seque…
Future planetary exploration missions demand high-performance, fault-tolerant computing to enable autonomous Guidance, Navigation, and Control (GNC) and Lander Vision System (LVS) operations during En…
Generative Artificial Intelligence is emerging as a transformative force in the automotive industry, enabling novel applications across vehicle design, manufacturing, autonomous driving, predictive ma…
Electroencephalography (EEG) is a widely used non-invasive technique for monitoring brain activity, but low signal-to-noise ratios (SNR) due to various artifacts often compromise its utility. Conventi…
Recent 3D generative models, which are capable of generating full object shapes from just a few images, now open up new opportunities in robotics. In this work, we show that 3D generative models can b…
The increasing number of satellite deployments, both in the low and geostationary Earth orbit exacerbates the already ongoing scarcity of wireless resources when targeting ubiquitous connectivity. For…
Robotic cutting is a challenging contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. We introd…
We consider the problem of data storage in a geographically distributed (or geo-distributed) network of servers (or nodes) where inter-node communication incurs certain round-trip delays. Every node s…
Autonomous robots are increasingly being tested into public spaces to enhance user experiences, particularly in cultural and educational settings. This paper presents the design, implementation, and e…
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