Research
Research
Research
Research
83+ open-access research outputs.
In 1956 John Kelly wrote a paper at Bell Labs describing the relationship between gambling and Information Theory. What came to be known as the Kelly Criterion is both an objective and a closed-form s…
Introduction: Mechanical thrombectomy can cause vessel deformation and procedure-related injury. Benchtop models are widely used for device testing, but time-resolved, full-field 3D vessel-motion meas…
We present a zero-shot deformation reconstruction framework for soft robots that operates without any visual supervision at inference time. In this work, zero-shot deformation reconstruction is define…
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accura…
Generative policies based on diffusion and flow matching achieve strong performance in robotic manipulation by modeling multi-modal human demonstrations. However, their reliance on iterative Ordinary …
Recent advances in deep monocular visual Simultaneous Localization and Mapping (SLAM) have achieved impressive accuracy and dense reconstruction capabilities, yet their robustness to scale inconsisten…
Manipulating deformable and fragile objects remains a fundamental challenge in robotics due to complex contact dynamics and strict requirements on object integrity. Existing approaches typically optim…
Background and Objective: To assess the feasibility and accuracy of reconstructing time-resolved, three-dimensional, subject-specific aortic geometries from a limited number of standard cine 2D magnet…
Reconstructing the three-dimensional (3D) geometry of object surfaces is essential for robot perception, yet vision-based approaches are generally unreliable under low illumination or occlusion. This …
Robotic foundation models trained on large-scale manipulation datasets have shown promise in learning generalist policies, but they often overfit to specific viewpoints, robot arms, and especially par…
Task-oriented dexterous grasping remains challenging in robotic manipulations of open-world objects under severe partial observation, where significant missing data invalidates generic shape completio…
Contact-rich manipulation requires reliable estimation of extrinsic contacts-the interactions between a grasped object and its environment which provide essential contextual information for planning, …
For developing safe Autonomous Driving Systems (ADS), rigorous testing is required before they are deemed safe for road deployments. Since comprehensive conventional physical testing is impractical du…
Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end…
Millimeter-wave radar provides perception robust to fog, smoke, dust, and low light, making it attractive for size, weight, and power constrained robotic platforms. Current radar imaging methods, howe…
Purpose: Natural orifice surgeries minimize the need for incisions and reduce the recovery time compared to open surgery; however, they require a higher level of expertise due to visualization and ori…
Collaborative perception enables more accurate and comprehensive scene understanding by learning how to share information between agents, with LiDAR point clouds providing essential precise spatial da…
This paper presents a multimodal framework that integrates touch signals (contact points and surface normals) into 3D Gaussian Splatting (3DGS). Our approach enhances scene reconstruction, particularl…
Integrated Sensing and Communication (ISAC) technology plays a critical role in future intelligent transportation systems, by enabling vehicles to perceive and reconstruct the surrounding environment …
Advances in 3D reconstruction and novel view synthesis have enabled efficient and photorealistic rendering. However, images for reconstruction are still either largely manual or constrained by simple …
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