Research
Research
Research
Research
1,774+ open-access research outputs.
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,…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit a…
Visual reinforcement learning aims to empower an agent to learn policies from visual observations, yet it remains vulnerable to dynamic visual perturbations, such as unpredictable shifts in corruption…
The aim of this paper is to demonstrate some interesting and useful approaches for writing a program in the assembly language. In order to demonstrate the possibilities of the assembly language, a pro…
Integrating large language models (LLMs) into automatic speech recognition (ASR) has become a mainstream paradigm in recent years. Although existing LLM-based ASR models demonstrate impressive perform…
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…
Modern maritime navigation and control systems rely on digital sensing, estimation, and communication pipelines that fuse GNSS, radar, inertial, and AIS data through approaches such as Kalman-filter-b…
Collecting embodied interaction data at scale remains costly and difficult due to the limited accessibility of conventional interfaces. We present a gamified data collection framework based on Unity t…
To navigate a space, the brain makes an internal representation of the environment using different cells such as place cells, grid cells, head direction cells, border cells, and speed cells. All these…
Autonomous robots operating in natural karstic caves face perception and navigation challenges that are qualitatively distinct from those encountered in mines or tunnels: irregular geometry, reflectiv…
The combination of control barrier functions (CBFs) and adaptive control -- a framework referred to as adaptive safety -- has proven to be a powerful paradigm for safety-critical control of nonlinear …
We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents but often converge to…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
The rapid advancement of generative AI has made it increasingly challenging to distinguish between deepfake audio and authentic human speech. To overcome the limitations of passive detection methods, …
Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both …
Reliable LiDAR perception requires robustness across sensors, environments, and adverse weather. However, existing datasets rarely provide physically consistent observations of the same scene under va…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hard…
Model-based multi-agent control requires agents to possess a model of the behavior of others to make strategic decisions. Solution concepts from game theory are often used to model the emergent collec…
In the automated co-design of soft robots, precisely adapting the material stiffness field to task environments is crucial for unlocking their full physical potential. However, mainstream platforms (e…
Network coordination games are widely used to model collaboration among interconnected agents, with applications across diverse domains including economics, robotics, and cyber-security. We consider n…
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