Research
Research
Research
Research
733+ open-access research outputs.
Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-relevant objects remains a…
As with every emerging technology, new tools in the hands of artists reshape the nature of artwork creation. Current frameworks for robotics in arts deploy the robot as an autonomous creator or a coll…
Smart glasses are emerging as a promising interface between humans and artificial intelligence (AI) agents, enabling first-person perception, contextual awareness, and real-time assistance. However, c…
This paper develops a dynamic programming (DP) approach for decentralized stochastic optimal control problems with delayed sharing information patterns, which exhibits the fundamental Properties of cl…
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally li…
Recent advancements in learning from human demonstration have shown promising results in addressing the scalability and high cost of data collection required to train robust visuomotor policies. Howev…
With advancements in multimodal communication technologies, remote learning environments such as, distance universities are increasing. Remote learning typically happens asynchronously. As a consequen…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid rob…
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…
Robust person tracking is a critical capability for autonomous mobile robots operating in diverse and unpredictable environments. While RGB-D tracking has shown high precision, its performance severel…
Robotic mapping systems typically approach building metric-semantic scene representations from the robot's own sensors and cameras. However, these "first person" maps inherit the robot's own limitatio…
Ensuring that robot navigation is safe and socially acceptable is crucial for comfortable human-robot interaction in shared environments. However, existing validation methods often rely on a bird's-ey…
Getting a real cybersecurity risk assessment for a small organization is expensive -- a NIST CSF-aligned engagement runs $15,000 on the low end, takes weeks, and depends on practitioners who are genui…
Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-based policies face pro…
We introduce MERGE, a system for situational grounding of actors, objects, and events in dynamic human-robot group interactions. Effective collaboration in such settings requires consistent situationa…
Vision Transformers have shown tremendous success in numerous computer vision applications; however, they have not been exploited for stress assessment using physiological signals such as Electrocardi…
Large-scale, high-quality multimodal demonstrations are essential for robot learning of contact-rich dexterous manipulation. While human-centric data collection systems lower the barrier to scaling, t…
Event cameras provide high dynamic range and microsecond-level temporal resolution, making them well-suited for indoor robot navigation, where conventional RGB cameras degrade under fast motion or low…
We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critica…
We present DRES: a 1.5-hour Dutch realistic elicited (semi-spontaneous) speech dataset from 80 speakers recorded in noisy, public indoor environments. DRES was designed as a test set for the evaluatio…
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