Research
Research
Research
Research
484+ open-access research outputs.
Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonom…
Vision-language-action models (VLAs) have been extensively used in robotics applications, achieving great success in various manipulation problems. More recently, VLAs have been used in long-horizon t…
Industrial robotic manipulation demands reliable long-horizon execution across embodiments, tasks, and changing object distributions. While Vision-Language-Action models have demonstrated strong gener…
Matrix-multiply-accumulate (MMA) units, or tensor cores, are now widespread across modern computing architectures. Yet, their use for particle-grid operators remains limited. In implicit particle meth…
Existing robotic foundation policies are trained primarily via large-scale imitation learning. While such models demonstrate strong capabilities, they often struggle with long-horizon tasks due to dis…
View transformers process multi-view observations to predict actions and have shown impressive performance in robotic manipulation. Existing methods typically extract static visual representations in …
This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a n…
Quality control is an essential operation in manufacturing, ensuring products meet the necessary standards of quality, safety, and reliability. Traditional methods, such as visual inspections, measure…
Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as ho…
Neurosim is a fast, real-time, high-performance library for simulating sensors such as dynamic vision sensors, RGB cameras, depth sensors, and inertial sensors. It can also simulate agile dynamics of …
Autonomous satellite servicing missions must execute close-range rendezvous under stringent safety and operational constraints while remaining computationally tractable for onboard use and robust to u…
Planning under uncertainty for real-world robotics tasks, such as autonomous driving, requires reasoning in enormous high-dimensional belief spaces, rendering the problem computationally intensive. Wh…
Automated driving (AD) is promising, but the transition to fully autonomous driving is, among other things, subject to the real, ever-changing open world and the resulting challenges. However, researc…
Recent advances in embodied intelligence have leveraged massive scaling of data and model parameters to master natural-language command following and multi-task control. In contrast, biological system…
Ultra-High Field MRI (UHF-MRI) is increasingly used in large-scale neuroimaging studies, yet automatic brain segmentation and cortical parcellation remain challenging due to signal inhomogeneities, he…
The rapid proliferation of wireless devices makes robust identity authentication essential. Radio Frequency Fingerprinting (RFF) exploits device-specific, hard-to-forge physical-layer impairments for …
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of …
An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower …
Deploying fifth-generation (5G) networks in emerging markets demands a balance between performance targets and constraints in budget, spectrum, and infrastructure. We use MATLAB simulations to quantif…
Casing collar locator (CCL) measurements are widely used as reliable depth markers for positioning downhole instruments in cased-hole operations, enabling accurate depth control for operations such as…
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