Research
Research
Research
Research
207+ open-access research outputs.
Supervised contrastive learning (SupCon) is widely used to shape representations, but has seen limited targeted study for audio deepfake detection. Existing work typically combines contrastive terms w…
Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into desired rob…
The ensemble Kalman filter (EnKF) is widely used for nonlinear and high-dimensional state estimation because it replaces complex covariance propagation with simple ensemble statistics. However, conven…
The segmentation of 2D vascular structures via deep learning holds significant clinical value but is hindered by the scarcity of annotated data, severely limiting its widespread application. Developin…
Shock waves in high-speed fluid dynamics produce near-discontinuities in the fluid momentum, density, and energy. Most contemporary works use artificial viscosity or limiters as numerical mitigation o…
Adaptation to complex tasks and multiple scenarios remains a significant challenge for a single robot agent. The ability to acquire organize, and switch between a wide range of skills in real time, pa…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many M…
Generalist robot manipulation policies are becoming increasingly capable, but are limited in evaluation to a small number of hardware rollouts. This strong resource constraint in real-world testing ne…
Purpose: To develop a data-efficient strategy for accelerated MRI reconstruction with Diffusion Probabilistic Generative Models (DPMs) that enables faster scan times in clinical stroke MRI when only l…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often…
Achieving versatile and naturalistic whole-body control for humanoid robot scene-interaction remains a significant challenge. While some recent works have demonstrated autonomous humanoid interactive …
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hex…
Vision-Language-Action (VLA) models enable robots to perform manipulation tasks directly from natural language instructions and are increasingly viewed as a foundation for generalist robotic policies.…
Despite rapid commercialization of surgical robots, their autonomy and real-time decision-making remain limited in practice. To address this gap, we propose ArthroCut, an autonomous policy learning fr…
Recently, affine frequency division multiplexing (AFDM) has gained traction as a robust solution for doubly selective channels. In this paper, we present a novel low-complexity one-tap equalizer for z…
Deepfake speech utterances can be forged by replacing one or more words in a bona fide utterance with semantically different words synthesized with speech-generative models. While a dedicated syntheti…
Physics-informed neural networks (PINNs) have emerged as a promising mesh-free paradigm for solving partial differential equations, yet adoption in science and engineering is limited by slow training …
Robot-aided exploration of planetary surfaces is essential for understanding geologic processes, yet many scientifically valuable regions, such as Martian dunes and lunar craters, remain hazardous due…
Reliable fall recovery is critical for humanoids operating in cluttered environments. Unlike quadrupeds or wheeled robots, humanoids experience high-energy impacts, complex whole-body contact, and lar…
Public Safety Power Shutoffs (PSPS) force rapid topology changes that can render standard operating points infeasible, requiring operators to quickly identify corrective transmission switching actions…
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