Research
Research
Research
Research
2,198+ open-access research outputs.
Annotating long-horizon robotic demonstrations with precise temporal action boundaries is crucial for training and evaluating action segmentation and manipulation policy learning methods. Existing ann…
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan exec…
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…
Industrial robotic manipulation demands reliable long-horizon execution across embodiments, tasks, and changing object distributions. While Vision-Language-Action models have demonstrated strong gener…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling i…
Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which …
Future spacecraft operations require autonomy that can interpret high-level mission intent while preserving safety. However, existing trajectory optimization still relies heavily on expert-crafted for…
Deploying learned multi-robot models on heterogeneous robots remains challenging due to hardware heterogeneity, communication constraints, and the lack of a unified execution stack. This paper present…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of pl…
In many robotic tasks, agents must traverse a sequence of spatial regions to complete a mission. Such problems are inherently mixed discrete-continuous: a high-level action sequence and a physically f…
We address Multi-Robot Exploration and Relaying (MRER): a team of robots must explore an unknown environment and deliver acquired information to a fixed base station within a mission time limit. The c…
Integrated learning and communication (ILAC) unifies learned transceivers with radio resource management, where semantic feature multiple access (SFMA) enables paired users to superpose their learned …
Large-scale Electric Vehicle (EV) Charging Station (CS) may be too large to be dispatched in real-time via a centralized approach. While a decentralized approach may be a viable solution, the lack of …
SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any moment, requiring f…
Motivated by the need to develop fair and efficient schemes to facilitate the electrification of transport, this paper proposes a non-monetary karma economy for flexible Electric Vehicle (EV) charging…
This work introduces a modular platform that brings together six AI services, automatic speech recognition via OpenAI Whisper, multilingual translation through Meta NLLB, speech synthesis using AWS Po…
The electrification and ongoing energy transition lead to systematic changes in electricity loading and variability in power systems. Distribution systems were designed for regular operating patterns,…
ARES OS 2.0 (hereinafter ARES OS) is an open-source software suite to enable laboratory automation and closed-loop autonomous experimentation. Its function is to orchestrate experimental actions and d…
This paper presents the SoftHand Model-W: a 3D-printed, underactuated, anthropomorphic robot hand based on the Pisa/IIT SoftHand, with an integrated antagonistic tendon mechanism and 2 degree-of-freed…
Multi-agent coordination in automated warehouses and logistics is commonly modeled as the Multi-Agent Path Finding (MAPF) problem. Closed-loop MAPF algorithms improve scalability by planning only the …
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