Research
Research
Research
Research
196+ open-access research outputs.
Robotic manipulation tasks that require repeated tool motion along curved surfaces frequently arise in surface finishing, inspection, and guided interaction. In practice, nominal motion primitives are…
While large-scale omni-models have demonstrated impressive capabilities across various modalities, their strong performance heavily relies on massive multimodal data and incurs substantial computation…
Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The execution of complex multi-step behaviors in VLA models can be improved by robust instr…
Accurate longitudinal analysis of brain MRI is often hindered by evolving lesions, which bias automated neuroimaging pipelines. While deep generative models have shown promise in inpainting these lesi…
This paper presents PISHYAR, a socially intelligent smart cane designed by our group to combine socially aware navigation with multimodal human-AI interaction to support both physical mobility and int…
Underwater images suffer severe degradation due to wavelength-dependent attenuation, scattering, and illumination non-uniformity that vary across water types and depths. We propose an unsupervised Dom…
Casing collar locator (CCL) measurements are widely used as reliable depth markers for positioning downhole instruments in cased-hole operations, enabling accurate depth control for operations such as…
Traditional control interfaces for quadruped robots often impose a high barrier to entry, requiring specialized technical knowledge for effective operation. To address this, this paper presents a nove…
Visual inspection of space-borne assets is of increasing interest to spacecraft operators looking to plan maintenance, characterise damage, and extend the life of high-value satellites in orbit. The e…
Accurate segmentation of spinal structures in X-ray images is a prerequisite for quantitative scoliosis assessment, including Cobb angle measurement, vertebral translation estimation and curvature cla…
Vision-Language-Action (VLA) models have recently achieved remarkable progress in robotic manipulation, yet they remain limited in failure diagnosis and learning from failures. Additionally, existing …
The method described in the first part for frequency-selectively measuring the transfer function and the noise power spectral density of the superimposed noise at the output of a disturbed, real syste…
There is already a method known from the literature with which it is possible to measure both the transfer function and the noise power spectral density of the superimposed noise at the output of a di…
Electrocardiogram (ECG) signals are often degraded by various noise sources such as baseline wander, motion artifacts, and electromyographic interference, posing a major challenge in clinical settings…
The deployment of artificial intelligence models at the edge is increasingly critical for autonomous robots operating in GPS-denied environments where local, resource-efficient reasoning is essential.…
Robotic arms require precise, task-aware trajectory planning, yet sequence models that ignore motion structure often yield invalid or inefficient executions. We present a Path-based Transformer that e…
This work pushes the boundaries of learning-based methods in autonomous robot exploration in terms of environmental scale and exploration efficiency. We present HEADER, an attention-based reinforcemen…
The rapid decentralization and digitalization of local electricity markets have introduced new cyber-physical vulnerabilities, including key leakage, data tampering, and identity spoofing. Existing bl…
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a continuous state--cos…
Accurate estimation of the body surface area (BSA) involved by a rash, such as psoriasis, is critical for assessing rash severity, selecting an initial treatment regimen, and following clinical treatm…
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