Research
Research
Research
Research
24+ open-access research outputs.
In Vision-Language-Action (VLA) models, action chunking (i.e., executing a sequence of actions without intermediate replanning) is a key technique to improve robotic manipulation abilities. However, a…
Modern AI systems, especially those interacting with the physical world, increasingly require real-time performance. However, the high latency of state-of-the-art generalist models, including recent v…
A quadruped robot is a promising system that can offer assistance comparable to that of dog guides due to its similar form factor. However, various challenges remain in making these robots a reliable …
Imitation learning-based visuomotor policies excel at manipulation tasks but often produce suboptimal action trajectories compared to model-based methods. Directly mapping camera data to actions via n…
Prior flow matching methods in robotics have primarily learned velocity fields to morph one distribution of trajectories into another. In this work, we extend flow matching to capture second-order tra…
We consider the problem of using diffusion models to generate fast, smooth, and temporally consistent robot motions. Although diffusion models have demonstrated superior performance in robot learning …
The joint optimization of Neural Radiance Fields (NeRF) and camera trajectories has been widely applied in SLAM tasks due to its superior dense mapping quality and consistency. NeRF-based SLAM learns …
End-effector based assistive robots face persistent challenges in generating smooth and robust trajectories when controlled by human's noisy and unreliable biosignals such as muscle activities and bra…
Deep Reinforcement Learning (DRL) has achieved remarkable success, ranging from complex computer games to real-world applications, showing the potential for intelligent agents capable of learning in d…
Combining a vision module inside a closed-loop control system for a \emph{seamless movement} of a robot in a manipulation task is challenging due to the inconsistent update rates between utilized modu…
Robotic applications across industries demand advanced navigation for safe and smooth movement. Smooth path planning is crucial for mobile robots to ensure stable and efficient navigation, as it minim…
This paper presents a reactive navigation method that leverages a Model Predictive Path Integral (MPPI) control enhanced with spline interpolation for the control input sequence and Stein Variational …
Learning-based controllers have demonstrated superior performance compared to classical controllers in various tasks. However, providing safety guarantees is not trivial. Safety, the satisfaction of s…
Deep reinforcement learning has achieved significant results in low-level controlling tasks. However, for some applications like autonomous driving and drone flying, it is difficult to control behavio…
Current research on Deep Reinforcement Learning (DRL) for automated on-ramp merging neglects vehicle powertrain and dynamics. This work considers automated on-ramp merging for a power-split Plug-In Hy…
In order to safely and efficiently collaborate with humans, industrial robots need the ability to alter their motions quickly to react to sudden changes in the environment, such as an obstacle appeari…
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actua…
As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by …
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and i…
In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, …
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