Research
Research
Research
Research
45+ open-access research outputs.
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. However, how to shape th…
Hybrid state estimators that combine model-based Kalman filtering with learned components have shown promise on simulated data, yet their performance on real-world automotive data remains insufficient…
We investigate what specific design choices enable successful online reinforcement learning (RL) on physical robots. Across 100 real-world training runs on three distinct robotic platforms, we systema…
Semantics has enabled 3D scene understanding and affordance-driven object interaction. However, robots operating in real-world environments face a critical limitation: they cannot anticipate how objec…
While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to ro…
Engineering complex systems (aircraft, buildings, vehicles) requires coordinating geometric and performance couplings across subsystems. As generative models proliferate for specialized domains, a key…
Scaled model experiments are commonly used in various engineering fields to reduce experimentation costs and overcome constraints associated with full-scale systems. The relevance of such experiments …
Urban Air mobility has gained momentum with recent advancements in the electric vertical take-off and landing (eVTOL) vehicles, offering faster point-to-point air taxi services that could help relieve…
Learning multi-fingered robot policies from humans performing daily tasks in natural environments has long been a grand goal in the robotics community. Achieving this would mark significant progress t…
High costs of green hydrogen and of carbon capture, utilization, and sequestration (CCUS) have hindered policy ambition and slowed real-world deployment, despite their importance for decarbonizing har…
Real robot data collection for imitation learning has led to significant advancements in robotic manipulation. However, the requirement for robot hardware in the process fundamentally constrains the s…
State estimation in stochastic dynamical systems with noisy measurements is a challenge. While the Kalman filter is optimal for linear systems with independent Gaussian white noise, real-world conditi…
Despite being considered a hard-to-abate sector, aviation's emissions will play an important role in long-term climate mitigation of transportation. The introduction of low-carbon energy carriers and …
We introduce Paralinguistic Speech Captions (ParaSpeechCaps), a large-scale dataset that annotates speech utterances with rich style captions. While rich abstract tags (e.g. guttural, nasal, pained) h…
We prove input-to-state stability (ISS) of perturbed Newton-type methods for generalized equations arising from Nash equilibrium (NE) and generalized NE (GNE) problems. This ISS property allows the us…
Green hydrogen has the potential to address two pressing problems in a zero-carbon energy system: balancing seasonal variability of solar and wind in the electricity sector, and replacing fossil fuels…
This paper introduces a novel magnetic navigation system for cardiac ablation. The system is formed from two key elements: a magnetic ablation catheter consisting of a chain of spherical permanent mag…
Imitation learning has proven to be a powerful tool for training complex visuomotor policies. However, current methods often require hundreds to thousands of expert demonstrations to handle high-dimen…
We explore how to improve the energy performance of battery-less Internet of Things (IoT) devices at the cost of a reduction in the quality of the output. Battery-less IoT devices are extremely resour…
The prevailing grasp prediction methods predominantly rely on offline learning, overlooking the dynamic grasp learning that occurs during real-time adaptation to novel picking scenarios. These scenari…
Free open-access publishing with Google Scholar indexing.
Submission Guide →