Research
Research
Research
Research
1,288+ open-access research outputs.
Nasotracheal intubation (NTI) is a critical clinical procedure for establishing and maintaining patient airway patency. Machine-assisted NTI has emerged as a pivotal approach for optimizing procedural…
Sensing the direction of arrival and polarization of impinging signals is a key prerequisite for beamforming and interference mitigation in modern wireless communication systems. Dynamic metasurface a…
Large language models are increasingly being explored as interfaces between humans and robotic systems, yet there remains limited evidence on how such technologies can be used not only for interaction…
Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In…
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single codebase. Most open-source VLA efforts specialize on the action training stage, often stitching tog…
This paper introduces a safety-critical optimization-based control strategy that leverages control Lyapunov and control barrier functions to guide the spatial density of robotic swarms governed by the…
Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while …
Portable medical imaging (PMI) has emerged as an important solution for point-of-care diagnosis in emergency, rural, and resource-limited settings where conventional imaging infrastructure is not read…
We present UMI-3D, a multimodal extension of the Universal Manipulation Interface (UMI) for robust and scalable data collection in embodied manipulation. While UMI enables portable, wrist-mounted data…
Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and …
This work presents an inexpensive optical projection tomography (OPT) system built on a mobile phone platform for three-dimensional optical microscopy. The system uses an iPhone camera together with a…
Hypertrophic Cardiomyopathy (HCM) is a genetic heart disease affecting approximately 1 in 500 people and is the leading cause of sudden cardiac death in young athletes. Current diagnostic methods -- c…
This paper investigates covert wireless communication with a Fusion Center (FC) that aggregates raw energy measurements from multiple Wardens via soft fusion. Extending our prior work on power-thresho…
The dynamic competition against intelligent jammer systems presents a significant challenge to modern radar. Traditional active anti-jamming strategy learning methods often suffer from low sample effi…
This paper investigates the joint optimization of beamforming and antenna positions in fluid antenna system (FAS)-aided anti-jamming communications. We consider a multi-user multiple-input multiple-ou…
In the field of medical image segmentation, the scarcity of labeled data poses a major challenge for existing models to accurately perceive target regions. Compared with manual annotation, gaze data i…
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by performing test-time steer…
Objective: To develop a robust and compact deep learning model for automated knee cartilage segmentation on point-of-care ultrasound (POCUS) devices. Methods: We propose MonoUNet, an ultra-compact U…
Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation through these methods rema…
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…
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