Research
Research
Research
Research
5,868+ open-access research outputs.
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-desi…
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncert…
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popul…
As with every emerging technology, new tools in the hands of artists reshape the nature of artwork creation. Current frameworks for robotics in arts deploy the robot as an autonomous creator or a coll…
Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse co…
Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER,…
This letter proposes a novel mathematical framework for the statistical characterization of reconfigurable intelligent surface (RIS)-mounted high-altitude platform station (HAPS)-assisted MIMO systems…
This paper addresses the problem of traffic congestion management in fixed-wing unmanned aerial vehicle (UAV) corridors by further developing a recently introduced loiter-lane framework. A semi-cooper…
Dexterous robot hands offer rich opportunities for multifunctional manipulation, where a robot must execute multiple skills in sequence while maintaining control over previously grasped objects. Most …
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. …
The Laplacian operator transforms the image into its Laplacian field, which usually is sparse and satisfies a stable distribution. On the other hand, an image can be uniquely reconstructed from its La…
Power system state estimation (SE) is foundational for grid monitoring, yet conventional centralized solvers face increasing computational pressure as the system scale and real-time requirements grow.…
AI and data-driven models have large potential for data assimilation applications by creating fast and accurate forecasts. Their tendency to produce spurious inaccurate, nonphysical results -- halluci…
Humanoid robots operating in unstructured environments must recover from unexpected disturbances-a capability that remains challenging for end-to-end control policies. We present RECOVERFORMER, a full…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human,…
This study investigates the kinematic role of palm degrees of freedom (DoF) in enhancing thumb opposability in a five-finger robotic hand. A hand model consisting of a five DoF thumb and four fingers …
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
Using self-supervised learning (SSL) models has significantly improved performance for downstream speech tasks, surpassing the capabilities of traditional hand-crafted features. This study investigate…
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
Long-horizon manipulation remains challenging for vision-language-action (VLA) policies: real tasks are multi-step, progress-dependent, and brittle to compounding execution errors. We present LoHo-Man…
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