Research
Research
Research
Research
101+ open-access research outputs.
In 1956 John Kelly wrote a paper at Bell Labs describing the relationship between gambling and Information Theory. What came to be known as the Kelly Criterion is both an objective and a closed-form s…
Vision-and-Language Navigation (VLN) has recently benefited from Multimodal Large Language Models (MLLMs), enabling zero-shot navigation. While recent exploration-based zero-shot methods have shown pr…
This paper studies quantum-encrypted explicit MPC for constrained discrete-time linear systems in a cloud-based architecture. A finite-horizon quadratic MPC problem is solved offline to obtain a piece…
Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenarios. However, existing…
Agricultural robotics has emerged as a critical solution to the labor shortages and rising costs associated with manual crop harvesting. Bell pepper harvesting, in particular, is a labor-intensive tas…
As the presence of autonomous robots in public spaces increases-whether navigating campus walkways or neighborhood sidewalks-understanding how to carefully study these robots becomes critical. While H…
Robot musicians require precise control to obtain proper note accuracy, sound quality, and musical expression. Performance of string instruments, such as violin and cello, presents a significant chall…
Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, …
Amphibians adapt their morphologies and motions to accommodate movement in both terrestrial and aquatic environments. Inspired by these biological features, we present PuffyBot, an untethered shape mo…
Soft robotic systems have gained widespread attention due to their inherent flexibility, adaptability, and safety, making them well-suited for varied applications. Among bioinspired designs, earthworm…
The stereotypical reaching motion of the octopus arm has drawn growing attention for its efficient control of a highly deformable body. Previous studies suggest that its characteristic bend propagatio…
Soft robots have been increasingly utilized as sophisticated tools in physical rehabilitation, particularly for assisting patients with neuromotor impairments. However, many soft robotics for rehabili…
To develop and externally validate integrated ultrasound nomograms combining BIRADS features and quantitative morphometric characteristics, and to compare their performance with expert radiologists an…
In this work we extend the low-cost GELLO teleoperation system, initially designed for joint position control, with additional force information. Our first extension is to implement force feedback, al…
In many industries, including aerospace and defense, waveform analysis is commonly conducted to compute the resonance of physical objects, with the Finite Element Method (FEM) being the standard appro…
Voice or Speech Commands are a subset of the broader Spoken Word Corpus of a language which are essential for non-contact control of and activation of larger AI systems in devices used in everyday lif…
Recent advances in deep learning, particularly frequency dynamic convolution (FDY conv), have significantly improved sound event detection (SED) by enabling frequency-adaptive feature extraction. Howe…
The Autonomy of Unmanned Aerial Vehicles (UAVs) in indoor environments poses significant challenges due to the lack of reliable GPS signals in enclosed spaces such as warehouses, factories, and indoor…
To enhance pediatric exosuit design, it is crucial to assess the actuator-generated forces. This work evaluates the contact forces exerted by soft fabric-based pneumatic actuators in an upper extremit…
Medical ultrasound imaging is ubiquitous, but manual analysis struggles to keep pace. Automated segmentation can help but requires large labeled datasets, which are scarce. Semi-supervised learning le…
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